// CAN data receive function
protected void RecvDataFunc()
{
  ZCAN_Receive_Data[]   can_data   = new ZCAN_Receive_Data[100];
  ZCAN_ReceiveFD_Data[] canfd_data = new ZCAN_ReceiveFD_Data[100];
  uint len;

  while (m_bStart)
  ...

// CAN data receive function
protected void RecvDataFunc()
{
  ZCAN_Receive_Data[]   can_data   = new ZCAN_Receive_Data[100];
  ZCAN_ReceiveFD_Data[] canfd_data = new ZCAN_ReceiveFD_Data[100];
  uint len;

  while (m_bStart)
  {
    lock (locker)
    {
      len = Method.ZCAN_GetReceiveNum(channel_handle_, TYPE_CAN);
      if (len > 0)
      {
        int size = Marshal.SizeOf(typeof(ZCAN_Receive_Data));
        IntPtr ptr  = Marshal.AllocHGlobal((int)len * size);
        len = Method.ZCAN_Receive(channel_handle_, ptr, len, 50);
        for (int i = 0; i < len; ++i)
        {
          can_data[i] = (ZCAN_Receive_Data)Marshal.PtrToStructure(
            (IntPtr)((UInt32)ptr + i * size), typeof(ZCAN_Receive_Data));
        }
        OnRecvCANDataEvent(can_data, len);
        Marshal.FreeHGlobal(ptr);
      }

      len = Method.ZCAN_GetReceiveNum(channel_handle_, TYPE_CANFD);
      if (len > 0)
      {
        int size = Marshal.SizeOf(typeof(ZCAN_ReceiveFD_Data));
        IntPtr ptr  = Marshal.AllocHGlobal((int)len * size);
        len = Method.ZCAN_ReceiveFD(channel_handle_, ptr, len, 50);
        for (int i = 0; i < len; ++i)
        {
          canfd_data[i] = (ZCAN_ReceiveFD_Data)Marshal.PtrToStructure(
            (IntPtr)((UInt32)ptr + i * size), typeof(ZCAN_ReceiveFD_Data));
        }
        OnRecvFDDataEvent(canfd_data, len);
        Marshal.FreeHGlobal(ptr);
      }
    }

    Thread.Sleep(10);
  }
}