Diesel Bombers - gas light and gage on M T after Limp Mode

Running normal for 30 minutes and it happened after backing off and lightly gassing it out of a corner. The check engine came on and it went into limp mode , injector rattle and 1800 rpm max . Drove a block home and shut down. Restart in 5 seconds same thing . Let sit for half hour and it runs fine with check light on along with low fuel light and gauge showing empty with 3/4 full tank .. Drove truck normally for an hour or so and with several restarts and engine light and low fuel light still on . Restarted several hours later and everything back to normal. Engine light off.
Did the same thing 4 months ago but without the low fuel light and no fuel gauge.
Heart went in my throat when this happened the first time . Was hoping it was just a kink in the program. Now I am worried and turning to the tribe for help.
All suggestions welcome.

Do I need a new gas pedal switch? 100,000 stocker, No electrical mods . Always starts fine and runs good even when 20 degrees outside . slight lope at idle but its done that for years . use 2 cycle oil in fuel and always try to keep the tank full.

Thanks in advance guys
Norm in Arkansas