First thing to do is get it somewhere that can scan the vehicle that has CAN/BUS capability(BCM/ABS/SRS and higher level than just OBD11). Codes are very specific to fault.
In the meantime you could get out your owners book and locate the fuse panel and see if a fuse for ABS system has blown. Light on while driving means the ABS and Traction control systems are not functioning...just normal power brakes.
Do as Ron has asked for.
YOu probably have a wheel speed sensor shot...possibly with a shot wheel bearing. Loss of wheel speed sensor does inhibit ABS and AWD .
AN advanced code reader can tell which wheel is the culprit. Most common code readers do not read wheel / brake/ transmission codes. .