added rate limited can msg

middleware/include/can_utility.h

@@ -0,0 +1,10 @@
+#include "can_handler.h"
+#include "FreeRTOS.h"
+
+typedef struct {
+	can_msg_t can_msg;
+	osThreadId_t msg_timer;
+	uint8_t msg_rate; /* in messages per second */
+} rl_can_msg_t;
+
+HAL_StatusTypeDef send_rl_can_msg(can_t *can, rl_can_msg_t *rl_can_msg);

middleware/src/can_utility.c

@@ -0,0 +1,18 @@
+
+#include "can_utility.h"
+
+/**
+ * Sends a rate limited can message
+ */
+HAL_StatusTypeDef send_rl_can_msg(can_t *can, rl_can_msg_t *rl_can_msg)
+{
+	if (osTimerIsRunning(rl_can_msg->msg_timer)) {
+		return HAL_BUSY;
+	}
+
+	can_send_msg(can, &rl_can_msg->can_msg);
+	osTimerStart(rl_can_msg->msg_timer,
+		     pdMS_TO_TICKS(rl_can_msg->msg_rate * 1000));
+
+	return HAL_OK;
+}