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Have it checked. Could be nothing, could be something, but unless you have a way of reading the codes, you won't know so just have it checked. There's a Cummins Coach Care facility in Avondale (Phoneix) Arizona.
Barbara & David O'Keeffe
Figment II (Alpine 2002 36 MDDS)
On The Road since 2006 Blog
If you're worried about driving it or don't want the hassle of having it towed, you could check the internet for mobile techs in your area. Let them know you need the code read so they can get the reader (some auto parts stores loan them).
Good luck! It's probably nothing important.
'02 Winnebago Journey DL, DSDP, 36' of fun.