I'm using the cortex microcontroller and have problems to read my PWM-based sensors.

I have a receiver for a joystick (not vex) that is using 4 PWM signals,
PWM type: pulse width 1-2ms, period 17ms, high 3V.

Now I want to read the signals in the Cortex but I can't find how?
I have searched the www but I can't find anything. I was told it is possible to do so before!?
Now I need some Cortex help.. Please

/norsmi