http://www.cadillacforums.com/forums...s-warning.html (How to pull Codes and got codes or warning lights? Look here!)
A Factory Service Manual will have the diagnostic and repair procedure for all codes. eBay or
www.helminc.com are two possible sources. An online Alldata subscription might also, but I have never used it.
You may have a problem in the steering column given its a driver side code. Hopefully something simple like a poor or broken wiring connection.