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")