Hello guys, my 528i is in limp mode(3rd gear). Yellow gear w/exclaimation on dash, check engine light and dsc. No cruise control, no reverse lights. Just put a brand new battery in also. Obd codes thrown are.. p0600( can timeout egs1, and p 03040(camshaft position sensor intake). Peake research tool says. table 15. code 19,41,37,d9. Am in the process of checking connections. 161,000 miles on car. original everything. Other than maintence, new belts, just did the vanos seals,(fixed the idle issue). The car went into limp mode on the way home 4 months ago before any work was done to the car. Now im getting ABS, Triangle, transmission, check engine light. Did the dash test , (checks ok) Also, I have no transmission indicators on the instrument cluster. (PRND) THEY ARE GONE. I can shift the transmission into and out of gear without stepping on the brake.
Any help would be hugely appreciated guys....

Any help would be hugely appreciated guys....