There is a very popular module called the MFRC522 which provides an RFID scanner. In addition, there is a popular Arduino library found here:
https://github.com/miguelbalboa/rfid
I had a request this week to see what it would take to get it working without Arduino dependencies in an ESP-IDF environment. To that end we now have a sample available. Since this is C++, it is part of the C++ samples.
See:
https://github.com/nkolban/esp32-snippe ... ts/MFRC522
The API interface should be identical to that of the original Github project mentioned in the first link.
Later ... and now a video to go with it:
https://www.youtube.com/watch?v=pGgax_7eugM
[Sample]: ESP-IDF, C++ and MFRC522
[Sample]: ESP-IDF, C++ and MFRC522
Free book on ESP32 available here: https://leanpub.com/kolban-ESP32
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