diff --git a/inc/rtcan.h b/inc/rtcan.h
index e5b7d23..2977417 100644
--- a/inc/rtcan.h
+++ b/inc/rtcan.h
@@ -59,6 +59,16 @@ typedef struct _rtcan_subscriber_t {
      */
     struct _rtcan_subscriber_t* next_subscriber_ptr;
 
+    /**
+     * @brief   Subscription period (optional)
+     */
+    uint32_t subscription_period;
+
+    /**
+     * @brief   Timestamp of the last delivered message.
+     */
+    uint32_t last_timestamp;
+    
 } rtcan_subscriber_t;
 
 /**
@@ -233,7 +243,8 @@ rtcan_status_t rtcan_handle_rx_it(rtcan_handle_t* rtcan_h,
 
 rtcan_status_t rtcan_subscribe(rtcan_handle_t* rtcan_h,
                                uint32_t can_id, 
-                               TX_QUEUE* queue_ptr);
+                               TX_QUEUE* queue_ptr,
+                               uint32_t period);
 
 rtcan_status_t rtcan_msg_consumed(rtcan_handle_t* rtcan_h,
                                   rtcan_msg_t* msg_ptr);
diff --git a/src/rtcan.c b/src/rtcan.c
index 8c6e1c7..92bacd5 100644
--- a/src/rtcan.c
+++ b/src/rtcan.c
@@ -430,9 +430,10 @@ static rtcan_hashmap_node_t* create_hashmap_node(rtcan_handle_t* rtcan_h,
  * 
  * @param[in]   rtcan_h     RTCAN handle
  * @param[in]   queue_ptr   Pointer to subscriber's associated queue
+ * @param[in]   period      Subscriber period in ticks (rate)
  */
 static rtcan_subscriber_t* create_subscriber(rtcan_handle_t* rtcan_h,
-                                         TX_QUEUE* queue_ptr)
+                                         TX_QUEUE* queue_ptr, uint32_t period)
 {
     rtcan_subscriber_t* new_subscriber_ptr = NULL;
 
@@ -447,6 +448,8 @@ static rtcan_subscriber_t* create_subscriber(rtcan_handle_t* rtcan_h,
     {
         new_subscriber_ptr->next_subscriber_ptr = NULL;
         new_subscriber_ptr->queue_ptr = queue_ptr;
+        new_subscriber_ptr->subscription_period = period;
+        new_subscriber_ptr->last_timestamp = tx_time_get();
     }
     
     return new_subscriber_ptr;
@@ -481,10 +484,11 @@ static rtcan_hashmap_node_t* find_hashmap_node(rtcan_handle_t* rtcan_h,
  * @param[in]   rtcan_h     RTCAN handle
  * @param[in]   can_id      CAN ID to receive notification for
  * @param[in]   queue_ptr   Destination to receive messages
+ * @param[in]   period      Subscription period in ticks (rate)
  */
 rtcan_status_t rtcan_subscribe(rtcan_handle_t* rtcan_h,
                                uint32_t can_id, 
-                               TX_QUEUE* queue_ptr)
+                               TX_QUEUE* queue_ptr, uint32_t period)
 {
     const uint32_t index = hashmap_index(can_id);
 
@@ -497,7 +501,8 @@ rtcan_status_t rtcan_subscribe(rtcan_handle_t* rtcan_h,
         if (no_errors(rtcan_h))
         {  
             new_node_ptr->first_subscriber_ptr = create_subscriber(rtcan_h, 
-                                                                   queue_ptr);
+                                                                   queue_ptr,
+                                                                   period);
         }
 
         if (no_errors(rtcan_h))
@@ -534,7 +539,8 @@ rtcan_status_t rtcan_subscribe(rtcan_handle_t* rtcan_h,
                 {
                     node_ptr = node_ptr->chained_node_ptr;
                     node_ptr->first_subscriber_ptr = create_subscriber(rtcan_h, 
-                                                                       queue_ptr);
+                                                                       queue_ptr,
+                                                                       period);
                 }
             }
             else // add to existing node
@@ -547,7 +553,8 @@ rtcan_status_t rtcan_subscribe(rtcan_handle_t* rtcan_h,
                 }
 
                 subscriber_ptr->next_subscriber_ptr = create_subscriber(rtcan_h, 
-                                                                        queue_ptr);
+                                                                        queue_ptr,
+                                                                        period);
             }
 
         }
@@ -561,7 +568,8 @@ rtcan_status_t rtcan_subscribe(rtcan_handle_t* rtcan_h,
             }
 
             subscriber_ptr->next_subscriber_ptr = create_subscriber(rtcan_h, 
-                                                                    queue_ptr);
+                                                                    queue_ptr,
+                                                                    period);
         }
     }
 
@@ -684,20 +692,32 @@ static void rtcan_rx_thread_entry(ULONG input)
                                                                msg_ptr->identifier);
 
             if (node_ptr != NULL)
-            {
+            {             
                 rtcan_subscriber_t* subscriber_ptr = node_ptr->first_subscriber_ptr;
 
                 while (subscriber_ptr != NULL)
                 {
-                    msg_ptr->reference_count++;
-                    
-                    tx_status = tx_queue_send(subscriber_ptr->queue_ptr,
-                                              &msg_ptr,
-                                              TX_NO_WAIT);
+                    UINT time_now = tx_time_get();
+                    UINT time_delta = time_now - subscriber_ptr->last_timestamp;
 
-                    if (tx_status != TX_SUCCESS)
+                    // only deliver message if enough ticks have passed
+                    if(time_delta >= subscriber_ptr->subscription_period)
                     {
-                        msg_ptr->reference_count--;
+                        msg_ptr->reference_count++;
+                        
+                        tx_status = tx_queue_send(subscriber_ptr->queue_ptr,
+                                                &msg_ptr,
+                                                TX_NO_WAIT);
+
+                        if (tx_status != TX_SUCCESS)
+                        {
+                            msg_ptr->reference_count--;
+                        }
+                        else
+                        {
+                            // update last delivered timestamp if success
+                            subscriber_ptr->last_timestamp = time_now;
+                        }
                     }
 
                     subscriber_ptr = subscriber_ptr->next_subscriber_ptr;