Diagnostics error code sources
General information about O3R diagnosis information The O3R system provides diagnosis information for different root causes: see the list of independent error case root causes below.
Boot-up sequence
WHEN:
This list of error code may be present from start-up of the system.
This list of error codes should not persist longterm, i.e. the error state has to switch to dormant for the boot-up to be successful.
CONTENT
Boot-sequence and TCU error codes are related to the system configuration on boot-up without any additional hardware being connected / present, i.e. no camera heads etc. connected. The table IMU holds information about IMU specific error codes during boot-up.
For camera head specific error codes on boot-up see the table head and its subcategory ICC. The table port is related to error codes regarding camera heads connected to the physical FARKRA ports of the VPU. This mapps camera head specific error codes to their respective hardware connection.
ID |
Name |
Description |
|---|---|---|
101014 |
ERROR_BOOT_SEQUENCE_VPU_EEPROM |
VPU EEPROM content invalid |
101018 |
ERROR_BOOT_SEQUENCE_INVALID_CONFIGURATION |
Unable to construct a valid device configuration |
tcu
ID |
Name |
Description |
|---|---|---|
101000 |
ERROR_BOOT_SEQUENCE_TCU_INVALID_FW |
The installed TCU firmware is incompatible |
head
ID |
Name |
Description |
|---|---|---|
101004 |
ERROR_BOOT_SEQUENCE_HEAD_INVALID_DRIVER |
The appropriate driver for the connected head is not available |
101005 |
ERROR_BOOT_SEQUENCE_HEAD_ALGO_INCOMPATIBLE |
The appropriate algorithm for the selected mode is not available |
101008 |
ERROR_BOOT_SEQUENCE_HEAD_INVALID_SERIAL_NUMBER |
The serial number of an extrinsically calibrated head does not match; please recalibrate after changing heads |
101009 |
ERROR_BOOT_SEQUENCE_HEAD_IDENTIFICATION |
Head identification data is invalid |
101016 |
ERROR_BOOT_SEQUENCE_HEAD_COMBINATION |
Only 2D/2D pairing or 3D/3D pairing is allowed |
icc
ID |
Name |
Description |
|---|---|---|
101010 |
ERROR_BOOT_SEQUENCE_HEAD_ICC_FW_CHECK |
Due to incorrect ICC firmware data an ICC update is attempted |
101011 |
ERROR_BOOT_SEQUENCE_HEAD_ICC_FW_UPDATE |
The ICC firmware data is still incorrect after an ICC update |
101012 |
ERROR_BOOT_SEQUENCE_HEAD_ICC_FW_INCOMPATIBLE |
Due to an incompatible ICC firmware version an ICC update is attempted |
101013 |
ERROR_BOOT_SEQUENCE_HEAD_ICC_FLASH |
Unable to read the ICC flash |
imu
ID |
Name |
Description |
|---|---|---|
101002 |
ERROR_BOOT_SEQUENCE_IMU_INVALID_HW |
The installed IMU (if any) was not recognised |
101003 |
ERROR_BOOT_SEQUENCE_IMU_INVALID_CALIBRATION |
The IMU calibration is either missing or incorrect |
port
ID |
Name |
Description |
|---|---|---|
101006 |
ERROR_BOOT_SEQUENCE_PORT_CALIBRATION |
The port calibration is invalid |
101007 |
ERROR_BOOT_SEQUENCE_PORT_INVALID_CONFIGURATION |
The init configuration does not match the port |
101015 |
ERROR_BOOT_SEQUENCE_PORT_DUMMY_CALIBRATION |
A dummy calibration is used for the port |
101017 |
ERROR_BOOT_SEQUENCE_PORT_CONFIGURATION_TIMEOUT |
The imager did not respond to the frame software |
101019 |
ERROR_BOOT_SEQUENCE_PORT_EEPROM_OVERRIDE |
A user-provided EEPROM file is used instead of the actual EEPROM |
101020 |
ERROR_BOOT_SEQUENCE_PORT_CALIBRATION_OVERRIDE |
A user-provided calibration file is used |
VPU
WHEN:
This list of error codes may occur at any time during the runtime of the system.
Depending on the severity of these error codes: i.e. combination of error code and number of activations in a certain amount of time, the error escalation strategy has to be decided see error escalation strategy.
CONTENT:
VPU error codes hold information about undervoltage scenarios at certain voltage levels.
VPU error codes hold information about VPU overtemperature, NTP sync status, trigger overruns, image buffer overflows, and watchdog timeouts for the imager retrieval processes.
COMM error codes hold information about communication faults to the TCU (trigger control unit) and temperature sensors.
ID |
Name |
Description |
|---|---|---|
103002 |
ERROR_VPU_OVERVOLTAGE_24V |
Overvoltage was detected for the 24V line |
103003 |
ERROR_VPU_UNDERVOLTAGE_24V |
Undervoltage was detected for the 24V line |
103004 |
ERROR_VPU_OVERVOLTAGE_5V |
Overvoltage was detected for the 5V line |
103005 |
ERROR_VPU_UNDERVOLTAGE_5V |
Undervoltage was detected for the 5V line |
103006 |
ERROR_VPU_OVERVOLTAGE_1_8V |
Overvoltage was detected for the 1.8V line |
103007 |
ERROR_VPU_UNDERVOLTAGE_1_8V |
Undervoltage was detected for the 1.8V line |
103008 |
ERROR_VPU_OVERTEMPERATURE |
Detected overtemperature for VPU mainboard |
103009 |
ERROR_VPU_NTP_NOT_SYNCHRONIZED |
Unable to synchronise time with NTP server |
103010 |
ERROR_VPU_TRIGGER_OVERRUN |
A trigger overrun was detected |
103011 |
ERROR_VPU_NO_FREE_IMAGEBUFFERS |
More image buffers are needed than are available |
103012 |
ERROR_VPU_WATCHDOG_TIMEOUT |
A watchdog timeout occured; the component was restarted |
Comms
ID |
Name |
Description |
|---|---|---|
103000 |
ERROR_VPU_COMM_TCU |
Unable to communicate to the TCU |
103001 |
ERROR_VPU_COMM_TEMPSENSOR |
Unable to communicate to the temperature sensor |
Port
WHEN:
This list of error codes may occur at any time during the runtime of the system.
Depending on the severity of these error codes: i.e. combination of error code and number of activations in a certain amount of time, the error escalation strategy has to be decided see error escalation strategy.
CONTENT:
Port error codes hold information about data stream drops due to:
3D imager timeouts
FPD-Link internal communication errors, e.g. EMV shocks.
Internal algorithmic errors while processing the time of flight data.
ID |
Name |
Description |
|---|---|---|
102011 |
ERROR_PORT_FRAME_TIMEOUT |
The 3D imager detected a frame timeout |
102013 |
ERROR_PORT_FPDLINK |
An unrecoverable FPD-Link error occured |
102014 |
ERROR_PORT_ALGO_INTERNAL |
Internal error in the port algorithm |
Camera Head
WHEN:
This list of error codes may occur at any time during the runtime of the system.
Depending on the severity of these error codes: i.e. combination of error code and number of activations in a certain amount of time, the error escalation strategy has to be decided see error escalation strategy.
CONTENT:
Head error codes hold information about overtemperature scenarios, brown outs, etc. detected at the temperature sensor per camera head.
Head error codes hold information about overvoltage and undervoltage scenarios at certain voltage levels.
Camera shut-off due to eye-safety violations or overtemperature at the VCSEL driver.
Camera imager resets, etc.
ID |
Name |
Description |
|---|---|---|
102000 |
ERROR_HEAD_OVERTEMPERATURE_ICC |
Head ICC has overtemperature |
102001 |
ERROR_HEAD_BROWNOUT |
Detected head brownout |
102002 |
ERROR_HEAD_ENVELOPE_PAUSE_VIOLATION |
Detected violation of the envelope pause ratio |
102003 |
ERROR_HEAD_OVERVOLTAGE |
Head has overvoltage |
102004 |
ERROR_HEAD_UNDERVOLTAGE |
Head has undervoltage |
102005 |
ERROR_HEAD_VCSEL_OVERCURRENT |
Head VCSEL has overcurrent |
102006 |
ERROR_HEAD_EYESAFETY_SHUTDOWN |
Head was shut down due to eye-safety concerns |
102007 |
ERROR_HEAD_INVALID_CALIBRATION |
Head current calibration is invalid |
102008 |
ERROR_HEAD_ENVELOPE_PULSE_ERROR |
Detected pulse error for envelope signal |
102009 |
ERROR_HEAD_VCSEL_OVERTEMPERATURE |
Head VCSEL has overtemperature |
102010 |
ERROR_HEAD_ENVELOPE_MAX_DURATION |
Maximum length of envelope signal was detected |
102012 |
ERROR_HEAD_IMAGER_RESET |
The 3D imager was unexpectedly reset |
IMU
WHEN:
This list of error codes may occur at any time during the runtime of the system.
Depending on the severity of these error codes: i.e. combination of error code and number of activations in a certain amount of time, the error escalation strategy has to be decided see error escalation strategy.
CONTENT: IMU specific errors such as implausible IMU data returned from the sensor.
ID |
Name |
Description |
|---|---|---|
104000 |
ERROR_IMU_DATA_IMPLAUSIBLE |
Received implausible IMU data |
DI (Distance Image) processing
WHEN:
This list of error codes may occur at any time during the runtime of the system.
Depending on the severity of these error codes: i.e. combination of error code and number of activations in a certain amount of time, the error escalation strategy has to be decided see error escalation strategy.
CONTENT:
Unexpected content encountered inside the (intrinsic) calibration file.
No ego-motion data (ODS) was received or ego-motion data is corrupted.
ID |
Name |
Description |
|---|---|---|
102015 |
ERROR_DI_UNEXPECTED_CALIB_CONTENT |
The port calibration contains unexpected values |
102016 |
ERROR_DI_MOTION_COMP_NO_EGO_DATA |
Expected motion compensation data, but none was received |
102017 |
ERROR_DI_MOTION_COMP_EGA_DATA_TIMESTAMP_MISMATCH |
Received motion compensation data is too old or contains implausible timestamps |
ODS app
WHEN:
This list of error codes may occur at any time during the runtime of the ODS application.
Depending on the severity of these error codes: i.e. combination of error code and number of activations in a certain amount of time, the error escalation strategy has to be decided see error escalation strategy.
CONTENT:
Odsapp error codes hold information about:
extrinsic calibration of the camera heads are implausible.
mismatched timestamp between IMU data and image data.
implausible extrinsic calibration, i.e. default values used for
extrinsic_head_to_userand implausible extrinsic calibration (camera heads) values.ODS app parameterization plausibility checks, i.e default zones used.
insufficient / unstable framerates during runtime.
missing stand still (3-5 sec) before starting each ODS run.
ID |
Name |
Description |
|---|---|---|
105000 |
ERROR_ODSAPP_EXTR_VPU_CALIB_IMPLAUSIBLE |
Implausible extrinsic VPU calibration |
105001 |
ERROR_ODSAPP_IMAGE_IMU_DELAY_IMPLAUSIBLE |
Detected an implausible delay between IMU and image data |
105002 |
ERROR_ODSAPP_VO_EXTR_DI_CALIB_IMPLAUSIBLE |
Implausible extrinsic calibration of visual odometry head |
105003 |
ERROR_ODSAPP_PARAMETER_PLAUSIBILITY_CHECK_FAILED |
Implausible ODS configuration parameters |
105004 |
ERROR_ODSAPP_VO_IMAGE_FRAMERATE |
Insufficient framerate of ODS input images |
105005 |
ERROR_ODSAPP_INTR_IMU_CALIB_IMPLAUSIBLE |
Implausible intrinsic IMU calibration |
105006 |
ERROR_ODSAPP_UNSTABLE_FRAMERATES |
Unstable framerate of at least one input stream |
105007 |
ERROR_ODSAPP_VELOCITY_UNAVAILABLE |
Unable to determine velocity |
105008 |
ERROR_ODSAPP_DEFAULT_ZONE_USED |
Using the default ODS zones |
105009 |
ERROR_ODSAPP_STANDSTILL_CHECKS_NOT_EXECUTED |
Standstill condition not detected |
105010 |
ERROR_ODSAPP_ALGO_INTERNAL |
Internal algo error; please see the logs for further information |
105011 |
ERROR_ODSAPP_EXTR_DI_CALIB_IMPLAUSIBLE |
Implausible extrinsic head calibration |
105012 |
ERROR_ODSAPP_TEST_MODE_WARNING |
Implausible extrinsic head calibration |