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J721EXSOMXEVM: How to access the MCU Domain Timers?

Part Number: J721EXSOMXEVM

Tool/software:

Hello All.

I see that there are 10 x 32 bit Timers available in the MCU Domain.

How do I access these timers so as to monitor my function/task execution time in my Baremetal App running on the Cortex R5F (mcu1_0)?

I do not find any APIs in PDK - Modules section. How do i access a specific timer to see my app execution time?

If there is any baremetal example for timers available in the PDK, if yes that would be great, please guide!

Thank you!