CAN_PACKET_STATUS_5 Current IN and Fault code

Hi All,

This is my first post on this forum and my English is far from perfect so apologize for any mistake.

I'm doing a project were VESC 6 drive a 2.4 Kw 48V sensored motor that will act like a mill motor , the machine is in real a robot with an hydraulic arm with 3 DOF with at the end the mill motor.

All the boards that control the machine are controlled over a CAN network 

I hade hard time to decode the CAN Status message due to my lack of skills in bit manipulation but at the end I'm able to control the motor in all the mode (Duty,Current etc) and get back the information of RPM, Motor Current, Duty Cycle, Fet Temp, Motor Temp and Voltage in.

I have problem with Input Current and Fault messages,

Input current seems to be in CAN_PACKET_STATUS_4    uint16_t  byte 4 and 5  but I get different values between VESC tool and CAN frame , approx 2 time higher in my CAN but also not stable value as in tool.

I did not find any message containing Fault code (eg. DRV fault )  Am I missing something reading source code ? in case will be beautiful to use the last two byte of CAN_PACKET_STATUS_5 to get them :-)

Thanks for any help

Flavio