VESC tachometer data pull through CAN bus

As I am using one of my VESCs to control a motor that turns (jaw) an outboard boat motor with a 100:1 gear ratio, it would be extremely useful to read the tachometer counts.

The motor is connected to a VESC motorcontroller, which is connected to a RPi via CAN bus.

When running the real time data analysis you can see that the tachometer reads every pulse from the encoder.

In my chase its 3 hall sensors, so one rotation of my rotor would make the tachometer value change by +/- 12.

I know it is a variable that is stored in the microcontroller of the vesc.

What is the specific command I can send from my RPi to pull the tachometer value?

Or how can I make this happen?

Added a screenshot of how sending 1000rpm through canbus looks like on my RPi

It is not seen in the 1_2_3_4 status updates that is broadcasted.

Tried playing around with different commands from this site

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The project code is avaliable here

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Part of code with can

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Квалификация: Электротехника, Электроника, Микроконтроллер

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ID проекта: #19585273

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