could code P0410 be cause from not properly warming car up before driving

What is your question?

Sometimes im in a hurry and just jump in my car and start her and take off. Not giving her the opportunity to warm up. Could that cause my check engine light to come on and diagnostics give me a code of P0410? Just curious cause theres no change in the way the car runs. She runs great. I didnt continue driving her after I noticed the check engine light come on. I drove straight home and parked her till we did a diagnostics and havent drove her since. But driving her home I was paying attention to see if there was any change in the way she drives and etc... Shes my baby and I love her.I just got her a few weeks ago