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More than likely one of the wheel speed sensors was damaged or its connector was jarred loose. The ABS control module is the heart of the ABS system and rarely goes bad. Suggest you take it to a mechanic that is familiar with the Trailblazer and have a diagnostic done.
Most likely one of your ABS sensors are dirty or the wire has corroded. Common for the sensors to get dirty since there magnetic and a simple cleaning will fix this. The ABS sensors are on each wheel on the inner side and can be cleaned with brake parts cleaner. If there was rust from the rotor or dirty that got in between the speed ring and sensor, you most likely have to replace the sensor.
Start with cleaning and inspecting the sensors, it my just be dirt build up and the sensor needing realignment which is a quick fix. After that and you still have the ABS light on, one of your sensors have gone bad. Go to Auto Zone and buy the brake parts cleaner and have them scan your trailblazer for which ABS component when bad to help address which sensor it is and yes they scan free of charge.
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Like the other person mentioned, if you have a faulty sensor or bad connection, that would trigger the light. That may also be triggering your ABS to kick in when it doesn't need to. On each wheel, there will be a sensor with some wires coming out of it located on the inside of the axle just behind the rotor. You'd have to test each sensor to determine if one or all of them are faulty.