BLDC Motor Control in Torque Mode

I am working on project using STEVAL-SPIN3201 board with SDK4.3.0.

I am able to control in speed mode. 

I want to know procedure to Read Present torque, How to set Torque value and How to Relate it with Current.

Secondly when I use commands related to Torque, like:

Run_Torque = MCI_GetTorque(oMCI[0]); 

I get error

error:  &sharp167: argument of type 'CMCI' is incompatible with parameter of type 'CSTC'

Also I want to Change mode during run time. How to do it ??

Regards

Vimal Amin