There is no diagnostic request routine which will display error codes like the ECM cars used. You do have options, however. There are various code scanners available for $40-50 which will retrieve stored codes, display them, and turn off the MIL. The down-side of that it that they don't display the freeze-frame data from the conditions which set the DTC. However, given the sophistication and broad monitoring capabilities of most modern PCMs, simply having the error code is frequently enough to point you in the right direction. It's certainly as good or better than the older ECMs and "paper clip" system.
Further, many chain auto parts stores like AutoZone and Advance Auto Parts have error code scanners which will do this, and most of those will provide a free code scanning if you simply drive in and ask. Again, they don't produce a print-out of data, nor the historical data, but do provide error codes. I suspect these places offer the service to help them sell parts. You can use this to your advantage.