Brian,
My abs control module did the exact same thing. Go to myairbags.com and get the info you need. They rebuilt my module while still being able to drive the truck, speedo was inop but GPS aided in that. They fixed my module and had it back to me in three days, cost 50 bucks or so. They have all of the info on how to remove and install the module on the web site. Thing I noticed was that the abs and brake light did not turn off after reinstall of the module until I actually moved the truck, in my case reverse. Guess the ecu needed input from the wheel sensors before the code would clear. Hope this helps.