Nissan Primera p12 p0335 fault code with the 2.0 liter petrol engine. Keep in mind the other engines might have different sensor positions.
Symptoms with the car were: not starting well, running bad, p0335 fault code, engine warning and esp warning.
So in a nutshell replacing the old broken crank shaft position sensor (IF its broken) with the old camshaft sensor and putting the new cam/crank shaft sensor to the easier cam shaft sensor position.
The car also had the engine warning and the esp warning in the screen which also went gone after this.