How to get arduino to print something excatly once every milisecond?

westfw:
When the number of "overflow microseconds" reaches 1000, it adds an extra millisecond to the millis value, and subtracts 1000 from the overlflow microseconds.

I accept that my comment was an over-simplification but I think you mean that it updates millis() on average once every 1000 microsecs rather than once every 1024 microsecs all the time.

...R