esphome/tests/components/mcp23016/test.rp2040.yaml

i2c:
  - id: i2c_mcp23016
    scl: 5
    sda: 4

mcp23016:
  id: mcp23016_hub

binary_sensor:
  - platform: gpio
    id: mcp23016_binary_sensor
    pin:
      mcp23016: mcp23016_hub
      number: 0
      mode: INPUT

switch:
  - platform: gpio
    id: mcp23016_switch
    pin:
      mcp23016: mcp23016_hub
      number: 1
      mode: OUTPUT