You can specifically only stop suspicious icmp packet from outside, however, you can turn on basic threat detection feature and change the icmp rate. Threat detection will be applied globally (not interface specific).
Here is the command to change the threat detection rate for your reference:
Unfortunately you can't configure CBAC on ASA to check the rate of ICMP, and threat-detection is only available from version 8.0.2 onwards and has become more stable on the latest version (8.2.x).
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