BRAKE And ENGINE ECU Problems. HELP PLEASE!

I have some codes on my engine and brake ECU that I can't figure out. I have a 2008 VNL 780 with D13 engine and iShift transmission.

My ABS AND TCS light came on after being parked over the weekend, I started my truck back up. I wasn't driving so I found it strange that they would come on. When I try to clear the codes it won't go away and the lights stay on. I also noticed that when I am about to turn on the truck and let the system cycle before I actually start it, it doesn't let the air out during the cycle or clicking noises it makes before I actually turn the truck on. Here is the message I'm getting for the brake ECU:

Wheel Sensor ABS
Axle 3 Right
Data Erratic
Active

MID 136 FMI 2



and this is the message I'm getting under the engine ECU:

NOX Level Downstream
SCE Catalyst
Electrical Fault
Active

MID 128 PPID 270 FMI 5

Any and all help is greatly appreciated. Thank you!!

 

Thank you both for the replies. I'll look into it when I park tonight. I've been looking online with no luck, but would anyone happen to know where I can go online so I can see where all the sensors are located (like ABS and NOX in this case) and also what the tone ring looks like? Thank again