diff --git a/src/utilities/upm_utilities.c b/src/utilities/upm_utilities.c
index 2ebca71b..926fcff8 100644
--- a/src/utilities/upm_utilities.c
+++ b/src/utilities/upm_utilities.c
@@ -23,12 +23,13 @@
  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
+#include <upm_platform.h>
 #include <upm_utilities.h>
 
 void upm_delay(int time){
-#if defined(linux)
+#if defined(UPM_PLATFORM_LINUX)
     sleep(time);
-#elif defined(CONFIG_BOARD_ARDUINO_101) || defined(CONFIG_BOARD_ARDUINO_101_SSS) || defined(CONFIG_BOARD_QUARK_D2000_CRB)
+#elif defined(UPM_PLATFORM_ZEPHYR)
     struct nano_timer timer;
     void *timer_data[1];
     nano_timer_init(&timer, timer_data);
@@ -38,9 +39,9 @@ void upm_delay(int time){
 }
 
 void upm_delay_ms(int time){
-#if defined(linux)
+#if defined(UPM_PLATFORM_LINUX)
     usleep(1000 * time);
-#elif defined(CONFIG_BOARD_ARDUINO_101) || defined(CONFIG_BOARD_ARDUINO_101_SSS) || defined(CONFIG_BOARD_QUARK_D2000_CRB)
+#elif defined(UPM_PLATFORM_ZEPHYR)
     struct nano_timer timer;
     void *timer_data[1];
     nano_timer_init(&timer, timer_data);
@@ -50,9 +51,9 @@ void upm_delay_ms(int time){
 }
 
 void upm_delay_us(int time){
-#if defined(linux)
+#if defined(UPM_PLATFORM_LINUX)
     usleep(time);
-#elif defined(CONFIG_BOARD_ARDUINO_101) || defined(CONFIG_BOARD_ARDUINO_101_SSS) || defined(CONFIG_BOARD_QUARK_D2000_CRB)
+#elif defined(UPM_PLATFORM_ZEPHYR)
     struct nano_timer timer;
     void *timer_data[1];
     nano_timer_init(&timer, timer_data);
@@ -60,3 +61,103 @@ void upm_delay_us(int time){
     nano_timer_test(&timer, TICKS_UNLIMITED);
 #endif
 }
+
+void upm_clock_init(upm_clock_t *clock)
+{
+#if defined(UPM_PLATFORM_LINUX)
+
+    gettimeofday(clock, NULL);
+
+#elif defined(UPM_PLATFORM_ZEPHYR)
+    *clock = sys_cycle_get_32();
+#endif
+}
+
+uint32_t upm_elapsed_ms(upm_clock_t *clock)
+{
+#if defined(UPM_PLATFORM_LINUX)
+
+    struct timeval elapsed, now;
+    uint32_t elapse;
+
+    // get current time
+    gettimeofday(&now, NULL);
+
+    struct timeval startTime = *clock;
+
+    // compute the delta since startTime
+    if( (elapsed.tv_usec = now.tv_usec - startTime.tv_usec) < 0 )
+    {
+        elapsed.tv_usec += 1000000;
+        elapsed.tv_sec = now.tv_sec - startTime.tv_sec - 1;
+    }
+    else
+    {
+        elapsed.tv_sec = now.tv_sec - startTime.tv_sec;
+    }
+
+    elapse = (uint32_t)((elapsed.tv_sec * 1000) + (elapsed.tv_usec / 1000));
+
+    // never return 0
+    if (elapse == 0)
+        elapse = 1;
+
+    return elapse;
+
+#elif defined(UPM_PLATFORM_ZEPHYR)
+    uint32_t now = sys_cycle_get_32();
+
+    uint32_t elapsed =
+        (uint32_t)(SYS_CLOCK_HW_CYCLES_TO_NS64(now - *clock)/(uint64_t)1000000);
+
+    if (elapsed == 0)
+        elapsed = 1;
+
+    return elapsed;
+#endif
+}
+
+uint32_t upm_elapsed_us(upm_clock_t *clock)
+{
+#if defined(UPM_PLATFORM_LINUX)
+
+    struct timeval elapsed, now;
+    uint32_t elapse;
+
+    // get current time
+    gettimeofday(&now, NULL);
+
+    struct timeval startTime = *clock;
+
+    // compute the delta since startTime
+    if( (elapsed.tv_usec = now.tv_usec - startTime.tv_usec) < 0 )
+    {
+        elapsed.tv_usec += 1000000;
+        elapsed.tv_sec = now.tv_sec - startTime.tv_sec - 1;
+    }
+    else
+    {
+        elapsed.tv_sec = now.tv_sec - startTime.tv_sec;
+    }
+
+    elapse = (uint32_t)((elapsed.tv_sec * 1000000) + elapsed.tv_usec);
+
+    // never return 0
+    if (elapse == 0)
+        elapse = 1;
+
+    return elapse;
+
+#elif defined(UPM_PLATFORM_ZEPHYR)
+    uint32_t now = sys_cycle_get_32();
+
+    uint32_t elapsed =
+        (uint32_t)(SYS_CLOCK_HW_CYCLES_TO_NS64(now - *clock)/(uint64_t)1000);
+
+    // never return 0
+    if (elapsed == 0)
+        elapsed = 1;
+
+    return elapsed;
+#endif
+}
diff --git a/src/utilities/upm_utilities.h b/src/utilities/upm_utilities.h
index cd9d2b88..e20806b4 100644
--- a/src/utilities/upm_utilities.h
+++ b/src/utilities/upm_utilities.h
@@ -25,17 +25,23 @@
 #ifndef UPM_UTILITIES_H_
 #define UPM_UTILITIES_H_
 
+#include <upm_platform.h>
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-#if defined(linux)
+#if defined(UPM_PLATFORM_LINUX)
 #include <stdio.h>
 #include <stdlib.h>
+#include <stdint.h>
 #include <unistd.h>
-#endif /* linux */
+#include <sys/time.h>
 
-#if defined(CONFIG_BOARD_ARDUINO_101) || defined(CONFIG_BOARD_ARDUINO_101_SSS) || defined(CONFIG_BOARD_QUARK_D2000_CRB)
+typedef struct timeval upm_clock_t;
+#endif /* UPM_PLATFORM_LINUX */
+
+#if defined(UPM_PLATFORM_ZEPHYR)
 #include <zephyr.h>
 #include <device.h>
 #include <sys_clock.h>
@@ -48,8 +54,10 @@ extern "C" {
 #define PRINT           printk
 #endif
 
-#endif /* CONFIG_BOARD_ARDUINO_101 || CONFIG_BOARD_ARDUINO_101_SSS ||
-          CONFIG_BOARD_QUARK_D2000_CRB */
+typedef uint32_t upm_clock_t;
+
+#endif /* UPM_PLATFORM_ZEPHYR */
+
 
 /* Get filename w/o path */
 #define __FILENAME__ (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
@@ -71,10 +79,38 @@ void upm_delay_ms(int time);
 /**
  * Delay for a number of microseconds
  *
- * @param time The number of microsenconds to delay for
+ * @param time The number of microseconds to delay for
  */
 void upm_delay_us(int time);
 
+/**
+ * Initialize a clock.  This can be used with upm_elapsed_ms() and
+ * upm_elapsed_us() for measuring a duration.
+ *
+ * @param clock The upm_clock_t to initialize to the current time
+ */
+void upm_clock_init(upm_clock_t *clock);
+
+/**
+ * Return the elapsed time in milliseconds since upm_init_clock() was
+ * last called.
+ *
+ * @param clock A upm_clock_t initialized by upm_init_clock()
+ * @return the number of milliseconds elapsed since upm_init_clock()
+ * was called on the clock parameter.
+ */
+uint32_t upm_elapsed_ms(upm_clock_t *clock);
+
+/**
+ * Return the elapsed time in microseconds since upm_init_clock() was
+ * last called.
+ *
+ * @param clock A upm_clock_t initialized by upm_init_clock()
+ * @return the number of microseconds elapsed since upm_init_clock()
+ * was called on the clock parameter.
+ */
+uint32_t upm_elapsed_us(upm_clock_t *clock);
+
 #ifdef __cplusplus
 }
 #endif