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you can tell via your production date (stamped on the drivers door jam or hood)... cars built before Sept 2010 had the early system when post Sept builds had the new freq TPMS.
Any dealer or (good)tire shop should have a scan tool that can be held near a tire and read the TPMS signal.
Also... when you reset your TPMS light make sure the car is running but standing still... then use the iDrive or BC to reset and drive the car for a few hundred meters until the TPMS check light resets. Every once in awhile mine TOMS light does something funny. You need to check the tire pressures and reset everything - say every month or so. (when you check your tires).
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