Along the lines of the above comment, check to see if the area around the headset jack or the dock port is bent or dinged. The iPhone thinks something is plugged in, so you might be getting a false signal because of damage in those areas.
On a Mac since 1984. Currently: 27" iMacs, Macbook Air, macOS 10.15.x,; iPhones, iPods and iPads galore!
More specifically, the error message is saying something is posting on one of the system buses (ATA/sata/etc) and is sending a device ID that the iphone cannot find the drivers to support. with closed hardware like this, that shouldn't ever happen. it would happen for example if you plugged it into a dock that was not normal. but the camera, digitizer, etc are devices like that. Whatever device is generating this error won't be working. So whatever isn't working on the phone is related to the message. Possibly the bit of hardware is bugged and sending garbage for an id. Could also mean the iphone software is corrupted. (restore it)
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