Hello there,

I already posted an issue on github (here), but as the engagment seems to be much higher in this Forum,
I'm trying to get help here too!

I'm using one RGB camera and the ToF sensor of my OAK-D-SR-PoE.
The RGB camera is configured to output FSYNC signal for the ToF, on falling edge of the GPIO pin (M8 Connector, pin 7), a script node forwards a RGB image with the synchronized ToF data.

This setup basically works when testing and produces good results.

However, sporadically, the ToF sensor breaks and produces the following error, where the actual phase code is not consistent (e.g. somtimes 7 etc):

ERROR unexpected phase code: 0
Orientation not supported! Only normal and 180 flip(not mirrored) can be used.
ERROR unexpected frequency code: 7

Is there a related Hardware Issue did I get something wrong in my pipeline?
Any help appreciated!

Pipeline

ColorCamera.preview (13) -> XLinkOut.in (35)
ColorCamera.video (11) -> ImageAlign.inputAlignTo (28)
ToF.depth (21) -> ImageAlign.input (30)
ColorCamera.video (11) -> Sync.video (25)
ImageAlign.outputAligned (31) -> Sync.tof (26)
Camera.raw (6) -> ToF.input (18)
XLinkIn.out (39) -> ToF.inputConfig (17)
SystemLogger.out (33) -> XLinkOut.in (38)
Sync.out (27) -> Script.frames (23)
Script.stream (24) -> XLinkOut.in (36)

system log
[2025-07-02 11:18:42.340] [depthai] [debug] Python bindings - version: 2.30.0.0 from 2025-03-18 12:45:46 +0100 build: 2025-03-18 11:51:35 +0000
[2025-07-02 11:18:42.340] [depthai] [debug] Library information - version: 2.30.0, commit: e0f6b52d048ef7ceac2ecd44deb2e161dbb97699 from 2025-03-18 12:44:00 +0100, build: 2025-03-18 11:51:34 +0000, libusb enabled: true
[2025-07-02 11:18:42.343] [depthai] [debug] Initialize - finished
...
[2025-07-02 11:20:16.897] [depthai] [debug] Searching for booted device: DeviceInfo(name=169.254.1.222, mxid=14442C105195AECF00, X_LINK_BOOTLOADER, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[2025-07-02 11:20:17.114] [depthai] [debug] Connected bootloader version 0.0.28 [14442C105195AECF00] [169.254.1.222] [1751448018.473] [host] [debug] Booting FW with Bootloader. Version 0.0.28, Time taken: 1358ms [2025-07-02 11:20:18.473] [depthai] [debug] DeviceBootloader about to be closed... [2025-07-02 11:20:18.473] [depthai] [debug] XLinkResetRemote of linkId: (17) [2025-07-02 11:20:18.868] [depthai] [debug] DeviceBootloader closed, 1430 [2025-07-02 11:20:18.873] [depthai] [debug] Searching for booted device: DeviceInfo(name=169.254.1.222, mxid=14442C105195AECF00, X_LINK_BOOTED, X_LINK_TCP_IP, X_LINK_MYRIAD_X, X_LINK_SUCCESS), name used as hint only
[14442C105195AECF00] [169.254.1.222] [7.238] [system] [info] Memory Usage - DDR: 0.12 / 333.26 MiB, CMX: 2.04 / 2.50 MiB, LeonOS Heap: 25.90 / 81.70 MiB, LeonRT Heap: 2.89 / 39.87 MiB / NOC ddr: 0 MB/s
[14442C105195AECF00] [169.254.1.222] [7.238] [system] [info] Temperatures - Average: 49.31C, CSS: 50.92C, MSS 48.25C, UPA: 49.37C, DSS: 48.70C [14442C105195AECF00] [169.254.1.222] [7.239] [system] [info] Cpu Usage - LeonOS 28.55%, LeonRT: 0.42%
[14442C105195AECF00] [169.254.1.222] [1751448025.242] [host] [debug] Schema dump: {"connections":{"node1Id":1,"node1Output":"preview","node1OutputGroup":"","node2Id":8,"node2Input":"in","node2InputGroup":""},{"node1Id":1,"node1Output":"video","node1OutputGroup":"","node2Id":5,"node2Input":"inputAlignTo","node2InputGroup":""},{"node1Id":2,"node1Output":"depth","node1OutputGroup":"","node2Id":5,"node2Input":"input","node2InputGroup":""},{"node1Id":1,"node1Output":"video","node1OutputGroup":"","node2Id":4,"node2Input":"video","node2InputGroup":"inputs"},{"node1Id":5,"node1Output":"outputAligned","node1OutputGroup":"","node2Id":4,"node2Input":"tof","node2InputGroup":"inputs"},{"node1Id":0,"node1Output":"raw","node1OutputGroup":"","node2Id":2,"node2Input":"input","node2InputGroup":""},{"node1Id":12,"node1Output":"out","node1OutputGroup":"","node2Id":2,"node2Input":"inputConfig","node2InputGroup":""},{"node1Id":6,"node1Output":"out","node1OutputGroup":"","node2Id":11,"node2Input":"in","node2InputGroup":""},{"node1Id":4,"node1Output":"out","node1OutputGroup":"","node2Id":3,"node2Input":"frames","node2InputGroup":"io"},{"node1Id":3,"node1Output":"stream","node1OutputGroup":"io","node2Id":9,"node2Input":"in","node2InputGroup":""}],"globalProperties":{"calibData":null,"cameraTuningBlobSize":null,"cameraTuningBlobUri":"","leonCssFrequencyHz":700000000.0,"leonMssFrequencyHz":700000000.0,"pipelineName":null,"pipelineVersion":null,"sippBufferSize":18432,"sippDmaBufferSize":16384,"xlinkChunkSize":0},"nodes":[[0,{"id":0,"ioInfo":[[["","inputConfig"],{"blocking":false,"group":"","id":1,"name":"inputConfig","queueSize":8,"type":3,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":6,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","still"],{"blocking":false,"group":"","id":7,"name":"still","queueSize":8,"type":0,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":2,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}],[["","video"],{"blocking":false,"group":"","id":3,"name":"video","queueSize":8,"type":0,"waitForMessage":false}],[["","isp"],{"blocking":false,"group":"","id":4,"name":"isp","queueSize":8,"type":0,"waitForMessage":false}],[["","preview"],{"blocking":false,"group":"","id":5,"name":"preview","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":8,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}]],"name":"Camera","properties":[185,35,185,32,0,3,0,136,0,0,0,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,186,0,0,189,0,255,0,1,0,129,44,1,129,44,1,255,255,255,255,255,255,136,0,0,160,65,0,136,0,0,128,191,136,0,0,128,191,1,185,4,0,0,0,0,255,3,3,4,4,4,255,189,0,0,0,190,32,32,190]}],[1,{"id":1,"ioInfo":[[["","inputConfig"],{"blocking":false,"group":"","id":9,"name":"inputConfig","queueSize":8,"type":3,"waitForMessage":false}],[["","raw"],{"blocking":false,"group":"","id":14,"name":"raw","queueSize":8,"type":0,"waitForMessage":false}],[["","still"],{"blocking":false,"group":"","id":15,"name":"still","queueSize":8,"type":0,"waitForMessage":false}],[["","inputControl"],{"blocking":true,"group":"","id":10,"name":"inputControl","queueSize":8,"type":3,"waitForMessage":false}],[["","video"],{"blocking":false,"group":"","id":11,"name":"video","queueSize":8,"type":0,"waitForMessage":false}],[["","isp"],{"blocking":false,"group":"","id":12,"name":"isp","queueSize":8,"type":0,"waitForMessage":false}],[["","preview"],{"blocking":false,"group":"","id":13,"name":"preview","queueSize":8,"type":0,"waitForMessage":false}],[["","frameEvent"],{"blocking":false,"group":"","id":16,"name":"frameEvent","queueSize":8,"type":0,"waitForMessage":false}]],"name":"ColorCamera","properties":[185,26,185,32,131,0,0,0,0,0,0,16,0,3,0,136,0,0,0,0,0,0,185,3,0,0,0,185,5,0,0,0,0,0,185,5,0,0,0,0,0,0,0,0,0,0,0,0,0,1,185,3,0,0,0,185,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0,186,0,1,189,0,255,1,0,0,129,44,1,129,44,1,133,0,5,133,208,2,255,255,4,136,0,0,32,65,0,136,0,0,128,191,136,0,0,128,191,1,185,4,0,0,0,0,3,3,4,4,4,190]}],[2,{"id":2,"ioInfo":[[["","inputConfig"],{"blocking":false,"group":"","id":17,"name":"inputConfig","queueSize":4,"type":3,"waitForMessage":false}],[["","input"],{"blocking":true,"group":"","id":18,"name":"input","queueSize":8,"type":3,"waitForMessage":false}],[["","intensity"],{"blocking":false,"group":"","id":19,"name":"intensity","queueSize":8,"type":0,"waitForMessage":false}],[["","amplitude"],{"blocking":false,"group":"","id":20,"name":"amplitude","queueSize":8,"type":0,"waitForMessage":false}],[["","depth"],{"blocking":false,"group":"","id":21,"name":"depth","queueSize":8,"type":0,"waitForMessage":false}],[["","phase"],{"blocking":false,"group":"","id":22,"name":"phase","queueSize":8,"type":0,"waitForMessage":false}]],"name":"ToF","properties":[185,4,185,11,0,1,0,1,190,1,0,190,190,1,129,44,1,4,1,188,0]}],[3,{"id":3,"ioInfo":[[["io","frames"],{"blocking":true,"group":"io","id":23,"name":"frames","queueSize":8,"type":3,"waitFo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[14442C105195AECF00] [169.254.1.222] [1751448025.243] [host] [debug] Asset map dump: {"map":{"/node/3/__script":{"alignment":64,"offset":0,"size":528}}}
[2025-07-02 11:20:25.398] [depthai] [info] Logging disabled [14442C105195AECF00] [169.254.1.222] [7.414] [Camera(0)] [info] WarpMeshSource: NONE
[14442C105195AECF00] [169.254.1.222] [7.414] [ImageAlign(5)] [info] Init node ImageAlign
[14442C105195AECF00] [169.254.1.222] [7.417] [system] [info] ImageAlign shave buffer size '36864'B
[14442C105195AECF00] [169.254.1.222] [7.417] [system] [info] ImageAlign shave buffer size '37888'B
[14442C105195AECF00] [169.254.1.222] [7.417] [system] [info] ToF shave buffer size '80896'B
[14442C105195AECF00] [169.254.1.222] [7.417] [system] [info] SIPP (Signal Image Processing Pipeline) internal buffer size '18432'B, DMA buffer size: '16384'B
[14442C105195AECF00] [169.254.1.222] [7.452] [system] [info] ImageManip internal buffer size '233472'B, shave buffer size '34816'B
[14442C105195AECF00] [169.254.1.222] [7.452] [system] [info] ColorCamera allocated resources: no shaves; cmx slices: [13-15]
ImageManip allocated resources: shaves: [15-15] no cmx slices. ToF allocated resources: shaves: [11-11] no cmx slices. ImageAlign allocated resources: shaves: [12-13] no cmx slices.
[14442C105195AECF00] [169.254.1.222] [9.405] [ToF(2)] [error] ERROR unexpected phase code: 0
[14442C105195AECF00] [169.254.1.222] [9.405] [ToF(2)] [error] ERROR unexpected phase code: 0
[14442C105195AECF00] [169.254.1.222] [14.162] [ToF(2)] [error] ERROR unexpected phase code: 0
[14442C105195AECF00] [169.254.1.222] [14.162] [ToF(2)] [error] ERROR unexpected phase code: 0
[14442C105195AECF00] [169.254.1.222] [14.190] [ToF(2)] [error] ERROR unexpected phase code: 0
[14442C105195AECF00] [169.254.1.222] [14.190] [ToF(2)] [error] ERROR unexpected phase code: 0
[14442C105195AECF00] [169.254.1.222] [14.216] [ToF(2)] [error] ERROR unexpected phase code: 0
[14442C105195AECF00] [169.254.1.222] [14.216] [ToF(2)] [error] ERROR unexpected phase code: 0
[14442C105195AECF00] [169.254.1.222] [14.243] [ToF(2)] [error] ERROR unexpected frequency code: 7
[14442C105195AECF00] [169.254.1.222] [14.243] [ToF(2)] [error] ERROR unexpected phase code: 7
[14442C105195AECF00] [169.254.1.222] [14.243] [ToF(2)] [error] Orientation not supported! Only normal and 180 flip(not mirrored) can be used.
[14442C105195AECF00] [169.254.1.222] [14.243] [ToF(2)] [error] ERROR unexpected frequency code: 7
[14442C105195AECF00] [169.254.1.222] [14.243] [ToF(2)] [error] ERROR unexpected phase code: 7