How to PWM(50Hz) using FreeRTOS

Hello, How is it possible to control a servo motor using a 50Hz PWM. It’s for a LPCXpresso 1343. I’ve managed to port the FreeRTOS to 1343, but I have no idea how to use the timers. Here is the code for a PWM init that does work without FreeRTOS: void PWM_init(void){
/** Timer 16 / PWM Settings **/
// PWM output: 16bit_timer1 LPC_SYSCON->SYSAHBCLKCTRL |= (1<<8);  // Enable clock to timer 1
LPC_IOCON->PIO1_9           &= ~0x1F; // – remove bits 0,1 & 2 and pull resistors
LPC_IOCON->PIO1_9           |= 0x01;      /* Timer1_16 MAT0 */ //- set bit 1
LPC_IOCON->PIO1_10          &= ~0x1F; // – remove bits 0,1 & 2 and pull resistors
LPC_IOCON->PIO1_10          |= 0x02; /* Timer1_16 MAT1 */ LPC_TMR16B1->MCR = 0x0400;        /* Reset at MR3*/
LPC_TMR16B1->PR = 50; /* set prescaler 50*28800 = 72MHz */
LPC_TMR16B1->MR0 = 28800-2880;    /* Match register 0 – pulse width
LPC_TMR16B1->MR1 = 7000;          /* Match register 1 – no PWM – toggle test */
LPC_TMR16B1->MR3 = 28800;//14399; /* Match register 3 – cycle length */
LPC_TMR16B1->EMR = 0xC2;          /* External Match register Settings for PWM channel have no effect.*/
LPC_TMR16B1->PWMC = 0x01;         /* PWMC register -MAT0 is PWM. */
GPIOSetDir( 1, 9, 0 );  // Set as output
GPIOSetDir( 1, 10, 1 ); // set as output
LPC_TMR16B1->TCR = 1;   // Enable timer 1
} I want this code to work in FreeRTOS, but I have no idea how. Can anyone help me ? - SnEAky

How to PWM(50Hz) using FreeRTOS

First get it working without FreeRTOS, then build up the application around it.

How to PWM(50Hz) using FreeRTOS

It is already working without FreeRTOS like i said in my first post. I just have no idea how to make this work in FreeRTOS. I’ve put the init in setuphardware(); and i call that function in the main.
Next I start a  task that will set the pulse width, but for some reason nothing happens, the output is just a logical ‘1’ and nothing happens. Any idea?