"Enter Passcode: iPad requires your passcode after restarting" PLEASE HELP

After updating my first generation iPad mini- i now get a message that says "Enter Passcode: iPad requires your passcode after restarting". It's not the usual passcode screen- but even if it was, it wouldn't matter because i've never had a passcode. I've tried to restore my iPad to factory settings several times, but this still comes up. please help