请教大神怎样去解决串口输出线程输出异常的问题

芯片：STM32F429ZGT6

线程信息：

cmd_tx_thread = rt_thread_create("cmd_tx_thread", cmd_tx_thread_entry, &cmd_tx_thread, 1024, 6, 30);

cmd_rx_thread = rt_thread_create("cmd_rx_thread", cmd_rx_thread_entry, &cmd_rx_thread, 1024, 6, 50);

TQ_thread = rt_thread_create("TQ_thread", TQ_thread_entry, RT_NULL, 4096, 6, 30);

YY_thread = rt_thread_create("YY_thread", YY_thread_entry, RT_NULL, 4096, 6, 30);

YY_X_thread = rt_thread_create("YY_X_thread", YY_X_thread_entry, RT_NULL, 4096, 6, 30);

YY_Z_thread = rt_thread_create("YY_Z_thread", YY_Z_thread_entry, RT_NULL, 4096, 6, 30);

YY_Y_thread = rt_thread_create("YY_Y_thread", YY_Y_thread_entry, RT_NULL, 4096, 6, 30);

YY_P_thread = rt_thread_create("YY_P_thread", YY_P_thread_entry, RT_NULL, 4096, 6, 30);

TQ_X_thread = rt_thread_create("TQ_X_thread", TQ_X_thread_entry, RT_NULL, 4096, 6, 30);

TQ_Z_thread = rt_thread_create("TQ_Z_thread", TQ_Z_thread_entry, RT_NULL, 4096, 6, 30);

TQ_Y_thread = rt_thread_create("TQ_Y_thread", TQ_Y_thread_entry, RT_NULL, 4096, 6, 30);

heat_timer = rt_thread_create("heat_timer", heat_timer_entry, RT_NULL, 512, 6, 30);

heat_thread = rt_thread_create("heat_thread", heat_thread_entry, RT_NULL, 1024, 6, 30);

内核堆栈信息

#define RT_HEAP_SIZE 1024 *32

static uint32_t rt_heap[RT_HEAP_SIZE] /* __at(0x10000000)*/; // heap default size: 4K(1024 * 4)

还有一些其他的线程，就在详细列出：

指令数据都是定长16位；

所有线程优先级相同；

线程将指令处理完以后，通过

void send_ack(uint8_t data_buf[16])

{

data_buf[14] = XorVerify(data_buf, 1, 13);

//HAL_UART_Transmit(&cmd_com, data_buf, CMD_LENGTH,100);

rt_mq_send(cmd_tx_mq, data_buf, CMD_LENGTH);

}

唤醒指令返回线程，发送返回数据给上位机

void cmd_tx_thread_entry(void *parameter)

{

rt_err_t uwRet;

//rt_uint32_t recved;

uint8_t cmd_tx[16];

while (1)

{

/* 从消息队列中接收要返回的数据信息 */

uwRet = rt_mq_recv(cmd_tx_mq, cmd_tx, CMD_LENGTH, RT_WAITING_FOREVER);

if (uwRet == RT_EOK)

{

//rt_enter_critical();

HAL_UART_Transmit(&cmd_com, cmd_tx, CMD_LENGTH, 200);

//rt_exit_critical();

rt_thread_mdelay(5);

}

}

}

现在遇到的问题是： 设备运行一段时间后，通过串口监控发现，通过cmd_tx_thread线程返回的数据出现断帧现象；并且此时，上位机再发送指令给主控板，下位机不再响应；

MDK仿真，给指令串口打断点，发现也没有响应串口接收中断。thread.org/ask/question/215d47c484a7eae2.html