Have you solve this issue yet? If not, it maybe TPMS sensor issue due to a weak or failing over even died battery. It should also be tires that serviced or rotated and the relearn procedure was not done correctly. Take a closer look at them.
You try to disconnect and reconnect the battery to see if this code disappear or not? Also cleaning wheel sensor is a good start. You can use a TPMS diagnostic scanner that is able to troubleshoot Mazda TPMS system and retrieve the error codes that what i read. Hope you can solve this problem.
TPMS does not come with spare time. Here are some links that you can refer to figure out the issue and solution. Hope it help.
You buy automotive diagnostic system known as OBD-II on Amazon, ebay that to monitors a number of engine and emissions-related components. This item can show you the issue is and you can fix the issue and then wait for the system to reset itself when it determines the problem is fixed.