tmc2130: Transmit register initialization during connect callback

Perform the register initialization directly from TMCCommandHelper and
perform it during the "connect" phase.  This unifies the register
setup for the TMC2130, TMC2208, TMC2660, and TMC5160.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

klippy/extras/tmc2130.py

@@ -175,15 +175,22 @@ class TMCCommandHelper:
         self.gcode.register_mux_command(
             "INIT_TMC", "STEPPER", self.name,
             self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
-    def init_registers(self, print_time=0.):
+        self.printer.register_event_handler("klippy:connect",
+                                            self._handle_connect)
+    def _init_registers(self, print_time):
         # Send registers
         for reg_name, val in self.fields.registers.items():
             self.mcu_tmc.set_register(reg_name, val, print_time)
+    def _handle_connect(self):
+        try:
+            self._init_registers(0.)
+        except self.printer.command_error as e:
+            raise self.printer.config_error(str(e))
     cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
     def cmd_INIT_TMC(self, params):
         logging.info("INIT_TMC %s", self.name)
         print_time = self.printer.lookup_object('toolhead').get_last_move_time()
-        self.init_registers(print_time)
+        self._init_registers(print_time)
     cmd_SET_TMC_FIELD_help = "Set a register field of a TMC driver"
     def cmd_SET_TMC_FIELD(self, params):
         if 'FIELD' not in params or 'VALUE' not in params:
@@ -353,7 +360,6 @@ class TMC2130:
         set_config_field(config, "pwm_freq", 1)
         set_config_field(config, "pwm_autoscale", True)
         set_config_field(config, "sgt", 0)
-        cmdhelper.init_registers()
     def setup_pin(self, pin_type, pin_params):
         if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
             raise pins.error("tmc2130 virtual endstop only useful as endstop")

klippy/extras/tmc2208.py

@@ -309,8 +309,6 @@ class TMC2208:
     def __init__(self, config):
         self.printer = config.get_printer()
         self.name = config.get_name().split()[-1]
-        self.printer.register_event_handler("klippy:connect",
-                                            self._handle_connect)
         # Setup mcu communication
         self.regs = collections.OrderedDict()
         self.fields = tmc2130.FieldHelper(Fields, SignedFields, FieldFormatters,
@@ -354,15 +352,6 @@ class TMC2208:
         set_config_field(config, "pwm_autograd", True)
         set_config_field(config, "PWM_REG", 8)
         set_config_field(config, "PWM_LIM", 12)
-    def _init_registers(self):
-        # Send registers
-        for reg_name, val in self.regs.items():
-            self.set_register(reg_name, val)
-    def _handle_connect(self):
-        try:
-            self._init_registers()
-        except self.printer.command_error as e:
-            raise self.printer.config_error(str(e))
     def query_registers(self, print_time=0.):
         out = []
         for reg_name in ReadRegisters:

klippy/extras/tmc2660.py

@@ -231,9 +231,6 @@ class TMC2660:
         self.fields.set_field("RDSEL", 0) # needed for phase calculations
         self.fields.set_field("SDOFF", 0) # only step/dir mode supported
 
-        # Init Registers
-        cmdhelper.init_registers()
-
         # Register ready/printing handlers
         self.idle_current_percentage = config.getint(
             'idle_current_percent', default=100, minval=0, maxval=100)

klippy/extras/tmc5160.py

@@ -320,8 +320,6 @@ class TMC5160:
         self.fields.set_field("TPWMTHRS", thresh)
         #   TPOWERDOWN
         set_config_field(config, "TPOWERDOWN", 10)
-
-        cmdhelper.init_registers()
     def setup_pin(self, pin_type, pin_params):
         if pin_type != 'endstop' or pin_params['pin'] != 'virtual_endstop':
             raise pins.error("tmc5160 virtual endstop only useful as endstop")