Hold <MAP><MENU><CANCEL> for about 5 seconds.
That puts you into the Setup/Diagnostics mode.
From there your go to XMHIP
Then XM(HIP) ECU
You can see the codes in the DTC CODES Screen
Somewhere in the menu options, you have an option do clear (some?) codes.
If you find a delte-able code, you have to do them one-by-one.
Otherwise the scan tool --> reset is all you've got.
BTW - fool with the settings/buttons, etc in these menus at your own risk. I don't what does what and if you F up your car it's on you.