Index: firmware/App/Services/StateServices/TubeSetInstall.c
===================================================================
diff -u -racc8c3eb9d40711058bd214251d7554ab50b3836 -rb314f68347ca0720d370fd5ace385a2d8d92fabe
--- firmware/App/Services/StateServices/TubeSetInstall.c	(.../TubeSetInstall.c)	(revision acc8c3eb9d40711058bd214251d7554ab50b3836)
+++ firmware/App/Services/StateServices/TubeSetInstall.c	(.../TubeSetInstall.c)	(revision b314f68347ca0720d370fd5ace385a2d8d92fabe)
@@ -40,7 +40,7 @@
 #define AUTO_LOAD_BLOOD_FLOW_RATE_ML_MIN      100U
 
 /// Blood pump torque threshold (mN.m) above which a tube-set jam is declared
-#define INSTALL_AUTO_LOAD_TORQUE_LIMIT_MNM    9999.0F    // TODO: Replace with lab characterized value
+#define BP_TORQUE_LIMIT_MNM                   9999.0F    // TODO: Replace with lab characterized value
 
 // ********** private data **********
 
@@ -120,7 +120,7 @@
  * Should wait for the user to confirm the tubeset is placed
  * @details \b Inputs: confirmTubsetPlaced
  * @details \b Outputs: confirmTubesetPlaced
- * return next Install sub-state
+ * @return next Install sub-state
  *************************************************************************/
 static TUBE_SET_INSTALL_STATE_T handleAwaitTubesetConfirmationState( void )
 {
@@ -144,7 +144,7 @@
  * Should wait until blood pump door (H9) is closed.
  * @details \b Inputs: H9_SWCH state
  * @details \b Outputs: none
- * return next Install sub-state
+ * @return next Install sub-state
  *************************************************************************/
 static TUBE_SET_INSTALL_STATE_T handleAwaitBPDoorCloseState( void )
 {
@@ -164,10 +164,9 @@
  * @brief
  * The handleAutoLoadState function handles the Auto-Load state of
  * Tube Set install state.
- * @details \b Inputs: bloodPumpTimerCounter, getMeasuredBloodPumpTorque()
- * isPeristalticPumpHome()
- * @details \b Outputs: bloodPumpTimerCounter
- * return next Install sub-state
+ * @details \b Inputs: bloodPumpTimerCounter, bpLastHome
+ * @details \b Outputs: bloodPumpTimerCounter, bpLastHome
+ * @return next Install sub-state
  *************************************************************************/
 static TUBE_SET_INSTALL_STATE_T handleAutoLoadState( void )
 {
@@ -182,10 +181,10 @@
         SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_AUTO_LOAD_EJECT_BP_TIMEOUT, isPeristalticPumpHome(), bloodPumpTimerCounter );
     }
     // Torque jam check. If measured torque exceeds the limit, the tubing set is likely jammed in the rotor.
-    else if ( bpTorque > INSTALL_AUTO_LOAD_TORQUE_LIMIT_MNM )
+    else if ( bpTorque > BP_TORQUE_LIMIT_MNM )
     {
         signalBloodPumpHardStop();
-        SET_ALARM_WITH_1_F32_DATA( ALARM_ID_TD_AUTO_LOAD_BLOOD_TUBE_SET_FAILURE, bpTorque );
+        SET_ALARM_WITH_1_F32_DATA( ALARM_ID_TD_AUTO_LOAD_EJECT_BLOOD_TUBE_SET_FAILURE, bpTorque );
         setBloodPumpTargetFlowRate( AUTO_LOAD_BLOOD_FLOW_RATE_ML_MIN, MOTOR_DIR_REVERSE, PUMP_CONTROL_MODE_OPEN_LOOP );
         bloodPumpTimerCounter = 0;
         state                 = TUBE_SET_INSTALL_STATE_AUTO_LOAD_BACK_OFF;
@@ -211,9 +210,9 @@
  * @brief
  * The handleAutoLoadBackOffState function handles the Auto-Load Back-Off
  * state of Tube Set install state.
- * @details \b Inputs: bloodPumpTimerCounter, isPeristalticPumpHome()
+ * @details \b Inputs: bloodPumpTimerCounter
  * @details \b Outputs: bloodPumpTimerCounter
- * return next Install sub-state
+ * @return next Install sub-state
  *************************************************************************/
 static TUBE_SET_INSTALL_STATE_T handleAutoLoadBackOffState( void )
 {
@@ -226,11 +225,11 @@
     }
     else if ( TRUE == isPeristalticPumpHome() )
     {
-        clearAlarmTD( ALARM_ID_TD_AUTO_LOAD_BLOOD_TUBE_SET_FAILURE );
+        signalBloodPumpHardStop();
+        clearAlarmTD( ALARM_ID_TD_AUTO_LOAD_EJECT_BLOOD_TUBE_SET_FAILURE );
 
-        if ( FALSE == isAlarmActive( ALARM_ID_TD_AUTO_LOAD_BLOOD_TUBE_SET_FAILURE ) )
+        if ( FALSE == isAlarmActive( ALARM_ID_TD_AUTO_LOAD_EJECT_BLOOD_TUBE_SET_FAILURE ) )
         {
-            signalBloodPumpHardStop();
             bloodPumpTimerCounter = 0;
             state                 = TUBE_SET_INSTALL_STATE_AWAIT_TUBE_SET_CONFIRMATION;
         }
@@ -249,7 +248,7 @@
  * state of Tube Set install state.
  * @details \b Inputs: none
  * @details \b Outputs: none
- * return install complete state
+ * @return install complete state
  *************************************************************************/
 static TUBE_SET_INSTALL_STATE_T handleInstallCompleteState( void )
 {