P1694 Fault In Companion Module No CCD Messages Received From ECM

Hi, I would like to know what can cause the P1694 OBD Error code. My check engine light is not on. I thought I had some issues with my tranny as it was shifting harshly. I took the jeep to a tranny specialist and they could not find any mechanichal problems. They scanned the PCM and the P1694 Fault In Companion Module No CCD Messages Received From ECM" code showed up. The funny part is that a week ago my Gauges started acting up. I thought that the battery terminals where screwed up so I replaced them. I've read other people describing the same symptoms and getting the same code. Any thoughts?

2001 jeep cherokee P1694 error code

2001 jeep cherokee P1694 error code

I've had the code P1698 I think it was, my truck doesn't have the tach or speedo working, airbag light is on, and "no bus" displays on the odometer.