// infinite loop
while (1) {
Task1 ();
Task2 ();
}
...
Every task/function is called every xx milliseconds with different timings, e.g. Task1 () is called before Task2 () and every 10 millisec, Task2 () is called after Task1 () and every 20 millisecs.

The workloop is fine, looks like any other, but where does the milliseconds come in?

Erik