So, you want your board to boot in less than 10 ms ?! or only the program ?
I guess your board will be "hot inserted". High constraint you get.
why such a constraint ? Maybe you have very good reason to hardly work on that.
Please be aware that FPGA takes time to be configured with user logic and start running user program ?
Written in Altera handbooks.
Since your board has no routine that modify boot sequence (unlike Windows ;-)), and is deterministic, I think you can consider the boot time constant, but I would put high margin to be sure.
To resume, You can't be sure that delay of timer initialization functions is constant because of bad luck, upset events, température, electromagnetic field, altitude, humidity............
"Starting the scheduler, reserve RAM space, checking configuration...." of uC/OS must be time consuming.
Good luck