Sorry, but the only way I've ever heard of to "program" a rig with OBDII is to have the dealer "flash" it with a new program. There might be a few shops around the country that have invested in the software/hardware to do it, but I don't know where they are.
There are tons of "scanners" to read the codes (as you already know). And, for the more popular (and frequently hot-rodded) vehicles like full sized pickups and sports cars, you can buy a "power programmer" that might have one or two pre-programmed "flashes" you can download. Or, some of them permanently plug in between the PCM and the harness and simply fool the PCM into thinking that the intake air is colder, manifold pressure is higher, etc., to force a richer mixture. But, since most Tracker/Vitara owners are more interested in going slow than going fast (and there aren't really that many of us anyway), the aftermarket hasn't spent much money trying to grab the tuning market.
If any others know of a product that I don't, feel free to chime-in.