Hi I have tried to read up on this but cant fully answer. Bought a cab 3.0 tdi Quattro 300 miles away on Saturday, drove fine but on near home coil light came on followed by engine light. Got a cheap code reader today and error p2002 showed up, associated with dpf as this is a 56 plate. Got other numbers like load,map, iat maf etc and don't know if they help with diagnosis. So does a vagcom show up more detail, could this be a sensor as I cannot clear dpf as wont rev high and goes into limp mode. Thinking of a dpf and egr delete and remap, any suggestions and rough price please as I am now skint. The car had a 10k engine fitted last year at Audi, done 30k since but they say flaps and motors, timing chains and engine all replaced due to bearing failure so its a keeper, got a warranty but glow plugs and dpf are all wear items, any help would be appreciated thankyou.