M112 kills steppers in all cases

Author: thinkyhead

Marlin/src/Marlin.cpp

@@ -741,21 +741,12 @@ void idle(
   #endif
 }
 
-// Kill heaters, job timer, and queue
-void kill_activity() {
-  thermalManager.disable_all_heaters();
-  stepper.quick_stop();
-  //queue.stop();
-  //print_job_timer.stop();
-  //queue.clear();
-}
-
 /**
  * Kill all activity and lock the machine.
  * After this the machine will need to be reset.
  */
-void kill(PGM_P const lcd_msg/*=nullptr*/) {
-  kill_activity();
+void kill(PGM_P const lcd_msg/*=nullptr*/, const bool steppers_off/*=false*/) {
+  thermalManager.disable_all_heaters();
 
   SERIAL_ERROR_MSG(MSG_ERR_KILLED);
 
@@ -769,10 +760,10 @@ void kill(PGM_P const lcd_msg/*=nullptr*/) {
     host_action_kill();
   #endif
 
-  minkill();
+  minkill(steppers_off);
 }
 
-void minkill() {
+void minkill(const bool steppers_off/*=false*/) {
 
   // Wait a short time (allows messages to get out before shutting down.
   for (int i = 1000; i--;) DELAY_US(600);
@@ -782,7 +773,11 @@ void minkill() {
   // Wait to ensure all interrupts stopped
   for (int i = 1000; i--;) DELAY_US(250);
 
-  kill_activity();
+  // Reiterate heaters off
+  thermalManager.disable_all_heaters();
+
+  // Power off all steppers (for M112) or just the E steppers
+  steppers_off ? disable_all_steppers() : disable_e_steppers();
 
   #if HAS_POWER_SWITCH
     PSU_OFF();

Marlin/src/Marlin.h

@@ -322,8 +322,8 @@ void disable_e_stepper(const uint8_t e);
 void disable_e_steppers();
 void disable_all_steppers();
 
-void kill(PGM_P const lcd_msg=nullptr);
-void minkill();
+void kill(PGM_P const lcd_msg=nullptr, const bool steppers_off=false);
+void minkill(const bool steppers_off=false);
 
 void quickstop_stepper();
 

Marlin/src/gcode/control/M108_M112_M410.cpp

@@ -41,7 +41,7 @@ void GcodeSuite::M108() {
  * M112: Full Shutdown
  */
 void GcodeSuite::M112() {
-  kill(PSTR("M112 Shutdown"));
+  kill(PSTR("M112 Shutdown"), true);
 }
 
 /**