Limp mode and code c002?

This code is because the DOG bus has lost communication, can I ask how you got this code did you use a CAN scanner? and has the car had any water damage? I would start by checking all fuses. here is a guide to help and the fuse locations in the diagrams below:

https://www.2carpros.com/articles/how-to-check-a-car-fuse

Most of the time it will be the front SAM control module, but we need to confirm that before a replacement. Do the testing with the key on. Check out the diagrams (below). Please let us know what you find. We are interested to see what it is.