diff --git a/klippy/extras/tmc5160.py b/klippy/extras/tmc5160.py
index 5f84efe8..ed061ade 100644
--- a/klippy/extras/tmc5160.py
+++ b/klippy/extras/tmc5160.py
@@ -265,20 +265,13 @@ class TMC5160:
         self.diag1_pin = config.get('diag1_pin', None)
         ppins = self.printer.lookup_object("pins")
         ppins.register_chip("tmc5160_" + self.name, self)
-        # Add DUMP_TMC, INIT_TMC command
+        # Register commands
+        cmdhelper = tmc2130.TMCCommandHelper(config, self.mcu_tmc)
+        cmdhelper.setup_register_dump(self.query_registers)
         gcode = self.printer.lookup_object("gcode")
         gcode.register_mux_command(
             "SET_TMC_CURRENT", "STEPPER", self.name,
             self.cmd_SET_TMC_CURRENT, desc=self.cmd_SET_TMC_CURRENT_help)
-        gcode.register_mux_command(
-            "DUMP_TMC", "STEPPER", self.name,
-            self.cmd_DUMP_TMC, desc=self.cmd_DUMP_TMC_help)
-        gcode.register_mux_command(
-            "SET_TMC_FIELD", "STEPPER", self.name,
-            self.cmd_SET_TMC_FIELD, desc=self.cmd_SET_TMC_FIELD_help)
-        gcode.register_mux_command(
-            "INIT_TMC", "STEPPER", self.name,
-            self.cmd_INIT_TMC, desc=self.cmd_INIT_TMC_help)
         # Setup basic register values
         irun, ihold, self.sense_resistor = get_config_current(config)
         msteps, en_pwm, thresh = \
@@ -328,16 +321,16 @@ class TMC5160:
         #   TPOWERDOWN
         set_config_field(config, "TPOWERDOWN", 10)
 
-        self._init_registers()
-    def _init_registers(self, print_time=0.):
-        for reg_name, val in self.regs.items():
-            self.set_register(reg_name, val, print_time)
+        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")
         if pin_params['invert'] or pin_params['pullup']:
             raise pins.error("Can not pullup/invert tmc5160 virtual endstop")
         return tmc2130.TMC2130VirtualEndstop(self)
+    def query_registers(self, print_time=0.):
+        return [(reg_name, self.get_register(reg_name))
+                for reg_name in ReadRegisters]
     def get_microsteps(self):
         return 256 >> self.fields.get_field("MRES")
     def get_phase(self):
@@ -376,38 +369,6 @@ class TMC5160:
             gcode.respond_info(
                 "Run Current: %0.2fA Hold Current: %0.2fA"
                 % (run_current, hold_current))
-    cmd_DUMP_TMC_help = "Read and display TMC stepper driver registers"
-    def cmd_DUMP_TMC(self, params):
-        self.printer.lookup_object('toolhead').get_last_move_time()
-        gcode = self.printer.lookup_object('gcode')
-        logging.info("DUMP_TMC %s", self.name)
-        gcode.respond_info("========== Write-only registers ==========")
-        for reg_name, val in self.regs.items():
-            if reg_name not in ReadRegisters:
-                gcode.respond_info(self.fields.pretty_format(reg_name, val))
-        gcode.respond_info("========== Queried registers ==========")
-        for reg_name in ReadRegisters:
-            val = self.get_register(reg_name)
-            gcode.respond_info(self.fields.pretty_format(reg_name, val))
-    cmd_INIT_TMC_help = "Initialize TMC stepper driver registers"
-    def cmd_INIT_TMC(self, params):
-        logging.info("INIT_TMC 5160 %s", self.name)
-        print_time = self.printer.lookup_object('toolhead').get_last_move_time()
-        self._init_registers(print_time)
-    cmd_SET_TMC_FIELD_help = "Set a register field of a TMC5160 driver"
-    def cmd_SET_TMC_FIELD(self, params):
-        gcode = self.printer.lookup_object('gcode')
-        if ('FIELD' not in params or
-            'VALUE' not in params):
-            raise gcode.error("Invalid command format")
-        field = gcode.get_str('FIELD', params)
-        reg = self.fields.field_to_register.get(field)
-        if reg is None:
-            raise gcode.error("Unknown field name '%s'" % field)
-        value = gcode.get_int('VALUE', params)
-        self.fields.set_field(field, value)
-        print_time = self.printer.lookup_object('toolhead').get_last_move_time()
-        self.set_register(reg, self.regs[reg], print_time)
 
 def load_config_prefix(config):
     return TMC5160(config)