diff --git a/g2core/canonical_machine.cpp b/g2core/canonical_machine.cpp
index 6ecf1c88..b8cfe55a 100644
--- a/g2core/canonical_machine.cpp
+++ b/g2core/canonical_machine.cpp
@@ -765,8 +765,8 @@ void canonical_machine_init()
     din_listeners[INPUT_ACTION_FAST_STOP].registerListener(&_hold_listener);
     din_listeners[INPUT_ACTION_HALT].registerListener(&_halt_listener);
     din_listeners[INPUT_ACTION_ALARM].registerListener(&_alarm_listener);
-    din_listeners[INPUT_ACTION_SHUTDOWN].registerListener(&_shutdown_listener);
     din_listeners[INPUT_ACTION_PANIC].registerListener(&_panic_listener);
+    din_listeners[INPUT_ACTION_RESET].registerListener(&_reset_listener);
 }
 
 void canonical_machine_reset_rotation() {
@@ -1061,24 +1061,6 @@ stat_t cm_shutdown(const stat_t status, const char *msg)
     return (status);
 }
 
-/*
- * _shutdown_listener - a gpioDigitalInputListener to capture pin change events
- *   Will be registered at init
- */
-gpioDigitalInputListener _shutdown_listener {
-    [&](const bool state, const inputEdgeFlag edge, const uint8_t triggering_pin_number) {
-        if (edge != INPUT_EDGE_LEADING) { return false; }
-
-        char msg[10];
-        sprintf(msg, "input %d", triggering_pin_number);
-        cm_shutdown(STAT_SHUTDOWN, msg);
-
-        return false; // allow others to see this notice
-    },
-    5,    // priority
-    nullptr // next - nullptr to start with
-};
-
 /*
  * cm_panic() - enter panic state
  *
@@ -1125,6 +1107,22 @@ gpioDigitalInputListener _panic_listener {
     nullptr // next - nullptr to start with
 };
 
+/*
+ * _reset_listener - a gpioDigitalInputListener to capture pin change events
+ *   Will be registered at init
+ */
+gpioDigitalInputListener _reset_listener {
+    [&](const bool state, const inputEdgeFlag edge, const uint8_t triggering_pin_number) {
+        if (edge != INPUT_EDGE_LEADING) { return false; }
+
+        hw_hard_reset();
+
+        return false; // this likely won't be seen, but just in case...
+    },
+    5,    // priority
+    nullptr // next - nullptr to start with
+};
+
 /**************************
  * Representation (4.3.3) *
  **************************/
diff --git a/g2core/controller.cpp b/g2core/controller.cpp
index 83fc8d39..ec873fd3 100644
--- a/g2core/controller.cpp
+++ b/g2core/controller.cpp
@@ -105,6 +105,10 @@ void controller_init()
         cs.controller_state = CONTROLLER_CONNECTED;
     }
 //  IndicatorLed.setFrequency(100000);
+
+    din_listeners[INPUT_ACTION_SHUTDOWN].registerListener(&_shutdown_listener);
+    din_listeners[INPUT_ACTION_LIMIT].registerListener(&_limit_listener);
+    din_listeners[INPUT_ACTION_INTERLOCK].registerListener(&_interlock_listener);
 }
 
 void controller_request_enquiry()
@@ -462,8 +466,11 @@ static stat_t _sync_to_planner()
 /* ALARM STATE HANDLERS
  *
  * _shutdown_handler() - put system into shutdown state
+ * _shutdown_listener - a gpioDigitalInputListener to capture pin change events
  * _limit_switch_handler() - shut down system if limit switch fired
+ * _limit_listener - a gpioDigitalInputListener to capture pin change events
  * _interlock_handler() - feedhold and resume depending on edge
+ * _interlock_listener - a gpioDigitalInputListener to capture pin change events
  *
  *    Some handlers return EAGAIN causing the control loop to never advance beyond that point.
  *
@@ -472,6 +479,19 @@ static stat_t _sync_to_planner()
  *   - safety_interlock_requested == INPUT_EDGE_LEADING is interlock onset
  *   - safety_interlock_requested == INPUT_EDGE_TRAILING is interlock offset
  */
+
+gpioDigitalInputListener _shutdown_listener {
+    [&](const bool state, const inputEdgeFlag edge, const uint8_t triggering_pin_number) {
+        if (edge != INPUT_EDGE_LEADING) { return false; }
+
+        cm.shutdown_requested = triggering_pin_number;
+
+        return false; // allow others to see this notice
+    },
+    5,    // priority
+    nullptr // next - nullptr to start with
+};
+
 static stat_t _shutdown_handler(void)
 {
     if (cm.shutdown_requested != 0) {  // request may contain the (non-zero) input number
@@ -483,6 +503,18 @@ static stat_t _shutdown_handler(void)
     return(STAT_OK);
 }
 
+gpioDigitalInputListener _limit_listener {
+    [&](const bool state, const inputEdgeFlag edge, const uint8_t triggering_pin_number) {
+        if (edge != INPUT_EDGE_LEADING) { return false; }
+
+        cm.limit_requested = triggering_pin_number;
+
+        return false; // allow others to see this notice
+    },
+    5,    // priority
+    nullptr // next - nullptr to start with
+};
+
 static stat_t _limit_switch_handler(void)
 {
     auto machine_state = cm_get_machine_state();
@@ -501,6 +533,20 @@ static stat_t _limit_switch_handler(void)
     return (STAT_OK);
 }
 
+gpioDigitalInputListener _interlock_listener {
+    [&](const bool state, const inputEdgeFlag edge, const uint8_t triggering_pin_number) {
+        if (edge == INPUT_EDGE_LEADING) {
+            cm.safety_interlock_disengaged = triggering_pin_number;
+        } else { // edge == INPUT_EDGE_TRAILING
+            cm.safety_interlock_reengaged = triggering_pin_number;
+        }
+
+        return false; // allow others to see this notice
+    },
+    5,    // priority
+    nullptr // next - nullptr to start with
+};
+
 static stat_t _interlock_handler(void)
 {
     if (cm.safety_interlock_enable) {