Timer Interrupt with Portenta

Hi everyone!
This is my first post here.
I'm trying to use a timer interrupt, to calculate the constants of my PD Controller.
I tried to use this example:
" Ticker t;
t.attach_us(&timerinterrupt, 100); // .attach(&function,seconds) or .attach_us(&function, microseconds)"

The problem is that it is a "soft timer", and I'm looking an ISR timer, like timer0.
I've tried a lot of libraries, but none of them worked.

Could someone send me an example?

If you read this datasheet, you can find out which registers are needed for this.