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Thanks for choosing FixYa and welcome to the site. You should have black solid fuses on the right hand side of the engine compartment. I believe there is ten. I had the same issue with mine. I believe it is the second or third one down on the right but I am not for sure. Just keep taking them out until the beeping stops. If you take out one and it don't help, put it back and move onto the next one.
The horn is located behind the bumper cover, behind the grill. There should be a 20 amp horn fuse under hood in fuse box, and the horn relay is up under dash on the right side of instrument panel, unplug one of these, or both and the horn should stop beeping.
Replace the horn assembly or foam peices in the center of your steering wheel. The foam that keeps the contacts apart deteriorate over time and makes the horn go off. You can go and get the parts from a salvage yard or order a new part from Mazda.
problem is under the steering wheel,if vehicle has air bag its best entrusted to a garage,if it hasnt then just pull steering wheel off with a special puller and check the carbon brush and the wires and contacts in the steering wheel itself.This is a simple job but without the right tools ???