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if your local auto parts store has a code reader that can read other systems besides the 'regular' ODBII codes [it would generally say on the unit that it can read ABS codes], go there to get the codes read, or get a code reader that is capable of doing it.
Alternately, if you don't have a code reader that can do this, and want to keep your vehicle for the long term, I would suggest getting something like Autogenuity [with the Ford-specific enhancement]. Hand-held units with ABS and SRS [air bags] capabilities quickly get into it's price range, and software like Autogenuity can access and aid in testing pretty much all the computers in your truck. I am assuming that you do have laptop running Windows.
There are other packages that do similar things, but I'm happy with AG.
The other thing I would suggest, if you want to do all/most of the work on your truck yourself, is to either buy the full-service manual or get a subscription at a service like alldata.com, which has the procedures for diagnosing and fixing pretty much everything wrong with your truck. The AG software can even help with some [but likely not all] diagnostic procedures that involve controlling computers to do various things [for example, on my '04 GM 6.0L, it could run the procedure for testing that all the fuel injectors were flowing the same amount of fuel].
Rezvani's Latest Post-Apocalyptic Monster Is a Ford F-150 Raptor Underneath
Slideshow: Called the Fortress, the 850-horsepower pickup combines Raptor underpinnings with military-inspired features, survival equipment, and a starting price of $285,000.