It is fairly rare to find applications where multiple tasks wait on a single message queue. Because of this, a message queue is built into each task and the user can send messages directly to a task without going through an external message queue object. This feature not only simplifies the code but, is also more efficient than using a separate message queue object. The message queue that is built into each task is shown in the figure below.
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Task message queue services in µC/OS-III start with the OSTaskQ???() prefix, and services available to the application programmer are described in µC/OS-III API Reference. Setting OS_CFG_TASK_Q_EN to DEF_ENABLED in os_cfg.h enables task message queue services. The code for task message queue management is found in os_task.c.
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