Hello, I am looking for timing about context switch, interrupt latency, semaphore locking/releasing etc. Especially some reporting tests result on ARM Cortex-M(3/4/7)&A(5/7/8/9) if possible… Thank you. Nathan

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 logic. https://www.freertos.org/RTOS-task-notifications.html