From 90b080bd0850de2fcbd35b6cdf3d19a12216b78c Mon Sep 17 00:00:00 2001
From: pmoegenburg <pbm53@cornell.edu>
Date: Tue, 20 Feb 2024 20:55:20 -0500
Subject: [PATCH] fixed 2160 motor driver register name usage

---
 include/motor-control/core/stepper_motor/tmc2160_driver.hpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/motor-control/core/stepper_motor/tmc2160_driver.hpp b/include/motor-control/core/stepper_motor/tmc2160_driver.hpp
index 31f6d2a0c..bc8574cee 100644
--- a/include/motor-control/core/stepper_motor/tmc2160_driver.hpp
+++ b/include/motor-control/core/stepper_motor/tmc2160_driver.hpp
@@ -295,9 +295,9 @@ class TMC2160 {
      * be read, so this function gets it from the actual device.
      */
     auto update_glob_scaler(uint32_t data) -> void {
-        auto ret = read_register<GConfig>(data);
+        auto ret = read_register<GlobalScaler>(data);
         if (ret.has_value()) {
-            _registers.gconfig = ret.value();
+            _registers.glob_scale = ret.value();
         }
     }