I bought the book and looked through some example programs. That was enough for me to get going.
The main things you want to keep in mind is that the queues and such are not for large amounts of data. It is better, for example, to statically allocate three buffers, and then send the buffer number over a queue interface, rather than send the data itself, which involves two copy operations.
The other thing to pay attention to is that you should only be using the ISR specific versions of the API inside an ISR. That, and minimize the code in the ISRs in general, but that is applicable to anything.