Error code sources

The O3R system provides diagnosis information for different root causes. We provide descriptions for each error 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 long-term, that is, the error state has to switch to dormant for the boot-up to be successful.

CONTENT

Boot-sequence and Trigger Control Unit (TCU) error codes are related to the system configuration on boot-up without any additional hardware being connected, that is no camera heads or other hardware plugged in. 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 FAKRA ports of the VPU. This maps camera head specific error codes to their respective hardware connection.

Boot sequence

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

Port connectivity

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

101021

ERROR_BOOT_SEQUENCE_PORT_IDENTIFICATION

Port identification data is invalid

Camera head

ID

Name

Description

101004

ERROR_BOOT_SEQUENCE_HEAD_INVALID_DRIVER

The appropriate driver for the connected head is not available

101008

ERROR_BOOT_SEQUENCE_HEAD_INVALID_SERIALNUMBER

The serial number of an extrinsically calibrated head does not match; please recalibrate after changing heads

101016

ERROR_BOOT_SEQUENCE_HEAD_INVALID_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

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, that is the 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 over-temperature, 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.

VPU

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 synchronize time with NTP server

103010

ERROR_VPU_TRIGGER_OVERRUN

A trigger overrun was detected

103011

ERROR_VPU_NO_FREE_IMAGE_BUFFERS

More image buffers are needed than are available

103012

ERROR_VPU_WATCHDOG_TIMEOUT

A watchdog timeout occurred; the component was restarted

103013

ERROR_VPU_INVALID_CONFIGURATION

Unable to read a configuration path

Communication

ID

Name

Description

103000

ERROR_VPU_COMM_TCU

Unable to communicate with the TCU

103001

ERROR_VPU_COMM_TEMPSENSOR

Unable to communicate with the temperature sensor

Port

WHEN:

  • This list of error codes that may occur at any time during the runtime of the system.

  • Depending on the severity of these error codes, that is the 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, for example 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

102018

ERROR_PORT_MODE_ALGO_INCOMPATIBLE

The appropriate algorithm for the selected mode is not available

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: that is 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

102019

ERROR_HEAD_VCSEL_OVERVOLTAGE

Head VCSEL has overcurrent

102020

ERROR_HEAD_ENVELOPE_PAUSE_CURRENT

Detected a violation of the envelope pause current

102021

ERROR_HEAD_VCSEL_SHUTDOWN

Head VCSEL was shut down; VPU must be rebooted to recover

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: that is 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

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: that is 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_EGO_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: that is 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:

ODS app error codes hold information about:

  • implausible extrinsic calibration of the camera heads.

  • mismatched timestamp between IMU data and image data.

  • implausible extrinsic calibration, that is default values used for extrinsic_head_to_user and 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 algorithm 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

A protected parameter was set to enter a test mode

105013

ERROR_ODSAPP_ERROR_ODSAPP_FOV_INSUFFICIENT_FOR_NEGATIVE_OBSTACLES

FOV is insufficient for negative obstacle detection