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How to use generic timer/counter

The technical reference manual states that the Cortex-A57 generic timer events are not affected by CPU clock frequency change. My challenge is that I can't use any built in linux libraries to create a delay because whenever I try it clears performance register that i'm trying to observe. Does anyone know a simple way to get the timer ticks value or even perhaps configure the timer. My attempts so far have all yielded in illegal instruction errors, MRS commands.  The ARMv8-A_Architecture_Reference_Manual says that they can also be accessed through memory mapped control but I'm not sure on how to go about that and would appreciate any help if that's the route i should go.

Thanks for any help.