though the two braking system share the use of the rear brake
caliper/pads/disk, they engage the rear brakes using one of two
different systems. The parking brake engages the rear brakes using the
parking brake handle and a set of cables. this is separate from the
hydraulic system used when you engage the brake pedal.
the parking brake system is very much like the system used on bicycles,
and the cables can fail due to being stretch (lots of use), or from
become corroded (little use) over time.
I have found
http://parts.arlingtonmazda.com/ to be a inexpensive place
to purchase oem mazda parking brake cables... about $50 per side. if
you look at the pictures of the cables on their site you will see they
have terminated ends that provide a certain amount of adjustment... but
once you have adjusted them to the minimum length there is nothing that
you can do other than replace them.