从FreeRtos文档中，它建议传递指向大型结构的指针是可以的。对于任务间内存访问，最安全的选择是使用锁，并且所引用的内存不应该是动态内存。

QueueHandle_t xQueue1, xQueue2;

    /* Create a queue capable of containing 10 unsigned long values. */
    xQueue1 = xQueueCreate( 10, sizeof( unsigned long ) );

    if( xQueue1 == NULL )
    {
        /* Queue was not created and must not be used. */
    }

    /* Create a queue capable of containing 10 pointers to AMessage
    structures.  These are to be queued by pointers as they are
    relatively large structures. */
    xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );

    if( xQueue2 == NULL )
    {
        /* Queue was not created and must not be used. */
    }

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Mastering the FreeRTOS Real Time Kernel - a Hands On Tutorial Guide的第154页也提供了一些见解。