An angular timer peripheral comprising two divider chains configured to both measure the period of a rotational input signal (signal_in) of unknown frequency, wherein the rotational input signal (signal_in) comprises a series of index pulses per rotation wherein at least one pulse is missing to indicate a position; wherein the first divider chain comprises: an interval measurement unit configured to determine an interval time of an interval defined by succeeding pulses of the input signal (singal_in) by a counter (910, 915) receiving a system clock (clk_in) and comprising a latch (ATxPER) configured to store said measured interval time value; and a missing pulse detector operable to create a signed difference by comparing the measured interval time value latched from the previous cycle and stored in said latch (ATxPER) with the current interval counter value and to compare the signed difference with a parameter stored in a register (ATxMISS) to determine whether a pulse is missing in the input signal (signal_in), wherein the parameter stored in said register (ATxMISS) is defined by the previously measured period value and a predetermined factor by which the previously measured interval must be exceeded, wherein the missing pulse detector comprises logic for outputting a signal (at_missed_pulse) indicating a missing pulse; and wherein the second divider chain comprises: an angle generator unit configured to deliver at its output a signal (at angle clock) having a frequency which is a multiple of the frequency of the rotational input signal (signal in), whereby the angle generator unit comprises a counter receiving a clock signal defined by the system clock (elk in) divided by the value held in said latch (ATxPER) from the previous cycle of the input signal. wherein the first divider chain comprises: an interval measurement unit configured to determine an interval time of an interval defined by succeeding pulses of the input signal (singal_in) by a counter (910, 915) receiving a system clock (clk_in) and comprising a latch (ATxPER) configured to store said measured interval time value; and a missing pulse detector operable to create a signed difference by comparing the measured interval time value latched from the previous cycle and stored in said latch (ATxPER) with the current interval counter value and to compare the signed difference with a parameter stored in a register (ATxMISS) to determine whether a pulse is missing in the input signal (signal_in), wherein the parameter stored in said register (ATxMISS) is defined by the previously measured period value and a predetermined factor by which the previously measured interval must be exceeded, wherein the missing pulse detector comprises logic for outputting a signal (at_missed_pulse) indicating a missing pulse; an interval measurement unit configured to determine an interval time of an interval defined by succeeding pulses of the input signal (singal_in) by a counter (910, 915) receiving a system clock (clk_in) and comprising a latch (ATxPER) configured to store said measured interval time value; and a missing pulse detector operable to create a signed difference by comparing the measured interval time value latched from the previous cycle and stored in said latch (ATxPER) with the current interval counter value and to compare the signed difference with a parameter stored in a register (ATxMISS) to determine whether a pulse is missing in the input signal (signal_in), wherein the parameter stored in said register (ATxMISS) is defined by the previously measured period value and a predetermined factor by which the previously measured interval must be exceeded, wherein the missing pulse detector comprises logic for outputting a signal (at_missed_pulse) indicating a missing pulse; and wherein the second divider chain comprises: an angle generator unit configured to deliver at its output a signal (at angle clock) having a frequency which is a multiple of the frequency of the rotational input signal (signal in), whereby the angle generator unit comprises a counter receiving a clock signal defined by the system clock (elk in) divided by the value held in said latch (ATxPER) from the previous cycle of the input signal.