Add tca9555 GPIO driver (#7146)

Co-authored-by: Michal Obrembski <michal@obrembski.com>
Co-authored-by: Jesse Hills <3060199+jesserockz@users.noreply.github.com>

tests/components/tca9555/test.esp32-c3-idf.yaml

@@ -0,0 +1,27 @@
+i2c:
+  - id: i2c_tca9555
+    scl: 5
+    sda: 4
+
+tca9555:
+  - id: tca9555_hub
+    address: 0x21
+
+binary_sensor:
+  - platform: gpio
+    id: tca9555_binary_sensor
+    name: TCA9555 Binary Sensor
+    pin:
+      tca9555: tca9555_hub
+      number: 1
+      mode: INPUT
+      inverted: true
+
+output:
+  - platform: gpio
+    id: tca9555_output
+    pin:
+      tca9555: tca9555_hub
+      number: 0
+      mode: OUTPUT
+      inverted: false