I've been dealing with these kinds of engine codes for the past 4 years, and what I've found is that you should always try the simplest things first. I've had the CPS replaced in 2008, oxygen sensors - 4 of them changed in 2009, and 2 more in 2011. I got screwed in both instances. I ended up paying the car dealer $2100 in all for repairs. After all that repair work, I still had the same problem. The engine would just cut-off in the middle of the road, no start issue or just sputter.

Typical Engine codes thrown:
p0410 - related to Catalytic Converter
p0562 - related to battery but it may be activated
p0335 - related to Crank Position Sensor CPS (sometimes this will indicate Engine misfires. It's possible to activate this to code when driving )

So the lesson learned is you should never underestimate the more obvious. Do a basic Tune-up, these cars love 'em.

Remove Air Box screws and remove Air Filters. You'll need a Torx-25 bit and driver-handle. Slap the dirt out of them and put them back in if your in a jam. Don't forget to replace them with new ones ASAP.

Very Basic Tune-Up
2 Cheap Air Filters (4 in a box): $18 - O'rielly's Auto Parts

Optional:
1 Bottle of Chevron Techron: $7 - At most Gas Stations
1 Full Tank of Gas: $48 - Depends on gas prices

Total: $73

Now, take your car on the highway and drive the HELL out of it for at least 150 miles!