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performance counter

Note: This was originally posted on 11th February 2013 at http://forums.arm.com

I'm porting an application to an ARM® Cortex-A9 based system  running Ubuntu 12.04 and I need a way to query a performance counter.  On Windows we used the function QueryPerformanceCounter() and on Intel-based Linux we used assembly code w/ the rdtsc command.  Is there a similar command or some assembly language that I can use to achieve this capability on an ARM system?
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