void setup() {
  pinMode(2, OUTPUT);
  Serial.begin(115200);
}

void Task_1ms() {

}

static boolean toggle;

void Task_500ms() {
  digitalWrite(2, toggle);


  Serial.write("\nPin Status: " + toggle);

  if (toggle) toggle = false; else toggle = true;

}


void loop() {

  Serial.write("Loop Heartbeat\n");

  uint64_t t_us = micros();
  static uint64_t mt_us = 0;
  static uint64_t mt_5us = 0;

  if (t_us >= (mt_us + 1000uL))
  {
    Task_1ms();
    mt_us = t_us;
  }

  if (t_us >= (mt_5us + (500 * 1000uL)))
  {

  Serial.write("500ms\n");
    Task_500ms();
    mt_5us = t_us;
  }
}