Jay,
Pull the wheels and inspect the sensors. Driver side for front and passenger side for the rears (I think). How they work is they lay up next to the rotor. When the pad wears, the plastic coating on the sensor gets rubbed off by the rotor, exposing a conductive surface, triggering the "Brake Linings" message. It doesn't tell you which axle. One of the sensors may have come loose. They are inexpensive, around six bucks, and easy to replace.
Hope this helps.
John