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Do you use the same cable all the time - and have you tried a different one? Could actually be a hardware problem.
 
Yes, I was wrong, b2update1 doesn't solve this issue. The iPad still charges though, albeit slowly.
 
Apparently I never see such error and my iPhone charges normally. I even charge it using power bank, charger on the wall, and through computer.
Seems that this issue is more apparent on iPad than on iPhone.
 
Id like to add that I have a similar issue with my iPhone 7 Plus and an '16 Audi S3. I get the same message. It works fine using the iPad pro 12.9 (2nd gen) with 11b4, but errors or on the iPhone running 11b4. The iPhone worked perfectly with the car prior (previous firmware was 10.2.1) to the upgrade.
 
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