Kill steppers on Estop/Kill

Marlin/src/Marlin.cpp

@@ -745,7 +745,7 @@ void idle(
  * Kill all activity and lock the machine.
  * After this the machine will need to be reset.
  */
-void kill(PGM_P const lcd_msg/*=nullptr*/) {
+void kill(PGM_P const lcd_msg/*=nullptr*/, const bool steppers_off/*=false*/) {
   thermalManager.disable_all_heaters();
 
   SERIAL_ERROR_MSG(MSG_ERR_KILLED);
@@ -760,10 +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);
@@ -773,7 +773,11 @@ void minkill() {
   // Wait to ensure all interrupts stopped
   for (int i = 1000; i--;) DELAY_US(250);
 
-  thermalManager.disable_all_heaters(); // turn off heaters again
+  // 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

@@ -38,10 +38,10 @@ void GcodeSuite::M108() {
 }
 
 /**
- * M112: Emergency Stop
+ * M112: Full Shutdown
  */
 void GcodeSuite::M112() {
-  kill();
+  kill(PSTR("M112 Shutdown"), true);
 }
 
 /**

Marlin/src/gcode/control/M80_M81.cpp

@@ -86,7 +86,7 @@
 /**
  * M81: Turn off Power, including Power Supply, if there is one.
  *
- *      This code should ALWAYS be available for EMERGENCY SHUTDOWN!
+ *      This code should ALWAYS be available for FULL SHUTDOWN!
  */
 void GcodeSuite::M81() {
   thermalManager.disable_all_heaters();

Marlin/src/gcode/gcode.cpp

@@ -407,7 +407,7 @@ void GcodeSuite::process_parsed_command(const bool no_ok/*=false*/) {
 
       #if DISABLED(EMERGENCY_PARSER)
         case 108: M108(); break;                                  // M108: Cancel Waiting
-        case 112: M112(); break;                                  // M112: Emergency Stop
+        case 112: M112(); break;                                  // M112: Full Shutdown
         case 410: M410(); break;                                  // M410: Quickstop - Abort all the planned moves.
         #if ENABLED(HOST_PROMPT_SUPPORT)
           case 876: M876(); break;                                  // M876: Handle Host prompt responses

Marlin/src/gcode/gcode.h

@@ -132,7 +132,7 @@
  *        If AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
  * M110 - Set the current line number. (Used by host printing)
  * M111 - Set debug flags: "M111 S<flagbits>". See flag bits defined in enum.h.
- * M112 - Emergency stop.
+ * M112 - Full Shutdown.
  * M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE)
  * M114 - Report current position.
  * M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT)

Marlin/src/module/planner.h

@@ -715,8 +715,8 @@ class Planner {
       FORCE_INLINE static float get_axis_position_degrees(const AxisEnum axis) { return get_axis_position_mm(axis); }
     #endif
 
-    // Called to force a quick stop of the machine (for example, when an emergency
-    // stop is required, or when endstops are hit)
+    // Called to force a quick stop of the machine (for example, when
+    // a Full Shutdown is required, or when endstops are hit)
     static void quick_stop();
 
     // Called when an endstop is triggered. Causes the machine to stop inmediately