Car: 2010 A4 B8, 2.0T non-quattro, 99,000 miles

My Engine light came on a couple of days ago (first time). I had a scan done and it came out with code P0016: "Crankshaft Position - Camshaft Position Correlation Bank 1"

Any idea what might be causing this, and potential hazards and solutions? How much is this going to cost me?

EDIT: I should add that the engine seems to be running very smoothly... I can't see any issues except for the light.