Hands-On RTOS with Microcontrollers

Queues increase flexibility 

Queues are beautiful in their simplicity—a sender places something in the queue and whatever task is monitoring the queue will receive the data and act on it. The only things the sender and the received task need to share are the code required for interacting with the queue and the definition of the data flowing through the queue. Since the list of shared resources is so short, there is a natural decoupling effect when queues are used.

Because of the clean break provided by the queue, the exact implementation of the functionality could change over time. The same functionality can be implemented in many different ways, which won't immediately affect the sender, as long as the queue interface doesn't change.

It ...