measure PWM frequency and duty cycle

[digidax]

Hello,
a servo actuator sends a PWM signal on a diagnosis port. I have to analyse two situations:

1st job:
There are 5 frequencies which are specifying an error: 100, 120, 140, 160 and 185 Hz.

2nd job:
If there is no error, the PWM frequency is 200 Hz, then I have to analyse the duty cycle, which is between 10 and 90%

consideration:
200 Hz are a pulse time of 5 ms, if I would need an accuracy of 10% steps for the duty cycle, this would be a timing of 0,5 ms.

question:
with the RMT counter on ESP32, can I realize job 1 and 2?

all the best,
Frank