01 disco turns off and hazzard lights on

Hi..... I was in a line with my 01 discovery 2 ... and suddenly goes off and hazard lights on..... put in park and turn on....ok but the hazard lights stay on...flashing in two different speeds.... low and quick...
I drove all the way to home.... once there... actvate the alarm, with the remote...then turn the key to on ..alarm activates and sound the horn...deactivate with remote...and the hazard lights goes off.....this is the third or fourth time that the truck does this...
I retrieve the codes from the ecu...


p0140.. it is a o2 that I know it has problems.. maybe the harnes...the sensor is new
p1536*the AC it is out of service... no gas... and the compressor clutch is out of service..
.p0560*battery voltage...the battery is new...was bad and autozone change it for a new one.
p0340*camsshaft .... Open/short circuit to vehicle supply or earth (rave) ---*sensor is fault????? should i change it?????


New battery and alternator cheched working okay

any one has been dealing with this behavour .any comment is welcome