diff --git a/lib.c b/lib.c
index 0201e94..e5f3e03 100644
--- a/lib.c
+++ b/lib.c
@@ -704,3 +704,21 @@ void snprintf_can_error_frame(char *buf, size_t len, const struct canfd_frame *c
 		n += snprintf_error_cnt(buf + n, len - n, cf);
 	}
 }
+
+int64_t timespec_diff_ms(struct timespec *ts1,
+					  struct timespec *ts2)
+{
+	int64_t diff = (ts1->tv_sec - ts2->tv_sec) * 1000;
+
+	diff += (ts1->tv_nsec - ts2->tv_nsec) / 1000000;
+
+	return diff;
+}
+
+void timespec_add_ms(struct timespec *ts, uint64_t milliseconds)
+{
+	uint64_t total_ns = ts->tv_nsec + (milliseconds * 1000000);
+
+	ts->tv_sec += total_ns / 1000000000;
+	ts->tv_nsec = total_ns % 1000000000;
+}
diff --git a/lib.h b/lib.h
index b67cbcd..dfd1f77 100644
--- a/lib.h
+++ b/lib.h
@@ -229,4 +229,20 @@ void snprintf_can_error_frame(char *buf, size_t len, const struct canfd_frame *c
  * Creates a CAN error frame output in user readable format.
  */
 
+/**
+ * timespec_diff_ms - calculate timespec difference in milliseconds
+ * @ts1: first timespec
+ * @ts2: second timespec
+ *
+ * Return negative difference if in the past.
+ */
+int64_t timespec_diff_ms(struct timespec *ts1, struct timespec *ts2);
+
+/**
+ * timespec_add_ms - add milliseconds to timespec
+ * @ts: timespec
+ * @milliseconds: milliseconds to add
+ */
+void timespec_add_ms(struct timespec *ts, uint64_t milliseconds);
+
 #endif