If you access the service menu, you can try to reinstall your current firmware. I received the same error when I had my windshield replaced. The steps are all over the forum, but essentially go to "software" page, hold finger on Model S for a few seconds and when you release it should ask for a password. Type "service" and it will bring you to service menu. On front screen you will see the reinstall firmware button. If that does not work you will need to setup a service appointment. Also, before you do it, you will see the service alerts and you can take a pic and search for the specific error code...
Good luck!!