I am looking for timing about context switch, interrupt latency,
Information on the number of cycles to actually perform a context switch
can be found here: https://www.freertos.org/FAQMem.html#ContextSwitchTime
semaphore locking/releasing etc.
If you want performance then semaphores are not the best option (they
are implemented using macros on top of a generic queue implementation)
so I suggest instead looking at direct to task notifications which are
directly task to task with no intermediate object and much simpler