Mazda RX-8 TPMS

What kind of TPMS sensors does my 2009 RX-8 take? and what is the TPMS relearn if there is one?

Here is a link for the OE sensor for your Mazda http://www.tpms.com/Mazda_TPMS_BBM23...40_p/v3006.htm

This is the link for the Relearn procedure http://www.tpmsrelearn.com/2016/12/05/mazda-1/