how to use AM335X HW timer

hi,

    We are use AM335X and ti-sdk-am335x-evm-05.06.00.00 to design our own pruducts. 

    Now we need to use a HW timer to get 500us timing interrupt accurately.

    And the question is:

    1 As we currently know is that timer 5 6 is used in cpsw, are there any other timer used in ti-sdk-am335x-evm-05.06.00.00?

       which timer we can use?

    2 Is there any examples used timer?