sample_tasks.c

void portable_delay_cycles(unsigned long n)
{
 	while (n--)
 	{
 		asm volatile ("");
 	}
}

volatile void Task0()
{
    while(1)
    {
    	/// Toggle @ 50 ms
    	portable_delay_cycles(100000);
    	HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_2);
    }
}

volatile void Task1()
{
    while(1)
    {
    	/// Toggle @ 100 ms
    	portable_delay_cycles(200000);
    	HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_3);
    }
}