My mate found this and thought it might be of some use to some us having a few issues with abs brake pressure sensors. Makes good reading unless it's already on here somewhere.
http://www.grahambone.talktalk.net/bmw_e46_traction_and_stability_control_training_manual.pdf
http://www.grahambone.talktalk.net/bmw_e46_traction_and_stability_control_training_manual.pdf