Code P0016 is Crankshaft Position - Camshaft Position Correlation error.
This is an indication that there is a difference in the expected position of the crank relative to the camshaft.
As they are both linked directly together via the timing belts then it is either a wiring fault, a misalignment of the sensors or there is a problem in the timing set up.
You should check to see what the service interval is compared to the mileage you have done.
You can check the basics yourself if you like.. The cranks sensor is a small black sensor, about 2 inches long pointing towards the teeth on the crank pulley at the front of the engine.
Check the condition on the mounting bolts to see if they show signs of movement (the distance from the teeth is critical), do a visual check of the wiring from the sensor back into the wiring loom.
If both of these check reveal nothing then you will have to visit a garage from them to do some further checks.
The sensors are not that expensive, but be sure you havent gone past the service interval for a belt change...
If you need any further information just ask
All the best