First of all, the scan should have given code number(s) which will tell which component(s) are malfunctioning.
'limp home mode' is a program in the pcm (ecm) that overrides certain components and allows the engine to run so you can get it home or to a repair shop.
Problem sounds like a vacuum leak (large) or the isc (idle speed control) is malfunctioning (hence, won't idle)
Have it checked out by a reputable repair shop.
Hope I've been able to help, VIC