Pull the radio fuse, wait 5 minutes, start your car and let it idle normally for 5. Make sure to drive normally (no hard accelerations) with your next trip.

Pulling the radio fuse will force a hard reset on the unit.

A side effect to pulling the radio fuse is cutting power to the ECU. You'll end up forcing a hard reset on that, so you don't want to do anything abnormal during it's environment reprogramming.