My dad has a 2006 Sonata. He took it for a drive this morning and all 3 lights came on. He heard a scratchy noise coming from the front and then smelt like burnt brake fluid. Turned around and came back home, maybe a 2 mile round trip. I looked and someone said maybe the brake piston might be stuck. Took tires off pushed the piston back in a little and lights are still on. I don't think the brake switch is broken, brake lights go off and one with the pedal. I read other posts but I didn't see any having the burnt brake fluid smells. Any suggestions? Thank you in advance.

 

I was able to pull a code, I'm getting C2112, Valve Relay Failure (Valve Relay or Fuse Failure)