I just recently implemented PCNT in my firmware. I had to do some trial and error to get access to pcnt.h, and I’ll document what worked for me in case others are searching.
This is applicable to my version of Mongoose OS, which is 2.18.0 (ESP-IDF 3.3).
In mos.yml, add the following under build_vars:
ESP_IDF_EXTRA_COMPONENTS: PCNT
Note that PCNT does not have its own directory like bt does, as it lives in the driver folder with a bunch of other components.
In the header where I need access to pcnt.h:
#include "driver/pcnt.h"
When implementing, be sure you are referencing the correct ESP-IDF version in the docs! The PCNT bits have changed quite a bit over the last couple of years.