Depending on your MINI FC code this is what your fault is pointing to:
P0341
0x2968 Camshaft Position Sensor 'A' Performance (Bank 1)
P0341
0x2D9F Intake camshaft sensor: Single implausible
Your R56 is an N14. Therefore, there is only an intake camshaft sensor. You can test it using this article here:
MINI Cooper R56 Camshaft Position Sensor Replacement (2007-2011) | Pelican Parts DIY Maintenance Article.