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Then you have a massive leak somewhere as the brake peddle should not go all the way to the floor without some low break fluid indication. I would check brakes at each wheel as something isn't right or your not seeing it. Have someone pump the pedal and look to see if after the wheel is removed that the brake actually tightens and loosens. Remember that 4 wheels means 4 brakes, but master brake cylinder (where you add brake fluid) could be bad.
same as any nother car. take off mastercylinder cap. get a helper set in the drivers seat. apply pressure to the brake peddle. with a box or tube wrench break the fluid *** on the top of the calliper/back of drum loose. foot pressure on peddle should push it to the floor -hold it on the floor! tighten the *** on the caliper/drum tight-ish. not over tight. then let peddle up off floor. pump till you get resistance/tighteness. hold pressure on peddle, loosen *** again and peddle will go to floor again tighten ***, lift up peddle pump for pressure. repeat untill all air is out of line/ or fluid runs out clear. never let the master cylinder get low on fluid. have plenty on hand. repeat for all 4 tires.
Try re-bleeding ALL wheels starting with furthest away - pass rear, then driv rear, then pass front and driv front. That should get your pedal back. To reset light you need ABS reset tool and it's EXPENSIVE. Have a good competent shop reset it for you. Body shops can reset them also.
if the master cylinder is full of brake fluid, then replace the master cylinder, if master cylinder is not full of fluid then fill with DOT 3 brake fluid pump brakes and look under truck for leak.......GOOD LUCK
If peddle goes to floor, every now and then, and you don't need to keep adding brake fluid, then it's going to be your master cylinder, the master cylinder is by-passing, and that's why you loose brake paddle pressure, needs to be replace or one of these time when you lease expect it, even if you pump the paddle, it is not going to hold pressure and will not have brakes.
Do you still have the problem ? If so, try disabling the ABS completely (electrically) by disconnecting the 50 amp breaker and remove the ABS controller. You should have brake power restored and be careful as the brakes will lock now if you apply too much foot pedal pressure. I hope this helps.