(O) No power to PCM pin 1 or bad PCM (processor)
Adaptive oxygen sensor control lean mixture at idle.
Error Code :511 Catalyst System Efficiency Below Threshold. The catalyst system being referred to is your three-way catalytic converter; so the catalytic converter is not working properly (i.e. it's not efficient).
When any of the speed sensors or the yaw rate and acceleration sensor has trouble, DTCs for the steering angle sensor may be stored even when the steering angle sensor is normal. When DTCs for the speed sensors or yaw rate and acceleration sensor are output together with DTCs for the steering angle sensor, inspect and repair the speed sensor and yaw rate and acceleration sensor first, and then inspect and repair the steering angle sensor.