OP, do you have that threat from your FIL in writing? Did he email it to you or was it written in response to your husband's letter? Take that, if you have it, and file a restraining order now. Even if you don't, speak with a lawyer, and see what your options are.
What you've described is really scary. Protect your family. Yes, have your locks changed and install a security system. Press charges when your FIL violates the order. It will be the more difficult thing your husband has ever done, but this whole scenario is terrifying - you'll probably have to take the lead on this because your husband is so used to the abuse, he can't see how wrong it is