jda2000 hit it right on the head.
You have at least two different problems.
You may want to start with the one that costs the least amount of money and that may have an effect on the other ones.
The ABS Control Unit.
Most likely your ABS Control Unit has failed. All of them will eventually fail after they reach 80,000 miles or 5 years.
Reading the ABS codes costs about $125.00 at the dealer and about 95% of the time, the diagnosis is a defective ABS Control Unit.
Here's information I have on this subject.
Vitor's ABS Web page
Click on the ABS / TRACS Link
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