Trans Problem

[Trouties]

My trans decided to slip and feel like it was in neutral today but when I looked it was in "D". Then it seemed ok but it was stuck in one gear and would not shift. So I then tried to put it in Sport mode to see if this would help but when I did this it still showed that it was in drive rather then Sport and it also wouldn't shift if I did it manually. I'm not sure what gear it was stuck in but I managed to limp home at 40 mph. When I shut it down it displayed "Trans Failsafe Prog". The bad thing is I was just thinking how my trans was now shifting perfect after the two trans updates I recently had and now this. i looked at the SEARCH but found nothing similar. Has anyone expierenced this?