FreeRTOS queue gets FULL

I have used freertos queue send/receive in my project, data transfer is done b/w two boards central/peripheral at the rate of 9 kbhps. queue length of item size(235) and max_length of (100) created. the queue is getting full and the board is hanging. whether its possible to handle the issue using freertos queue itself?.

This seems more like an issue in your application. You can check the return value of xQueueSend to determine if the send operation was successful or not and add the appropriate error handling.