azuck

About a week ago I started to slide and my abs brakes kicked in and I was fine but then my ABS warning light turned on. i looked it up and i saw that the light should go out and reslove itself after a little bit of driving and multiple "driving sessions". It did go out after about 4 times driving but now my abs light turns on to indicate that the abs system is working properly but as soon as i go over 15 mph the light comes on to show me that the system is no longer working. Also when the ABS light comes on, there is an error message where the odometer usually shows the miles. The error message just says Error 55. I have a 2006 Subaru Legacy SE. Any help?