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My engine light has come on but sometimes turns off again (90% of the time on, 10% of the time off). The car seems to be running fine although sometimes when slowing to a stop the idle will drop right down to 500rpm then pick up again. Are the AA able to read the fault code of my car as taking it to a Mazda dealer could be quite costly.

The engine light comes on if some running anomoly has occured. It's quite possible that the idle problem you refer to is the cause.
As long as there is a fault code stored in the memory, an AA Auto Centre orAA Licensed Repairer will be able to scan the memory and diagnose the cause of the problem for you.