feat: implement MCP23017 I/O Expander driver

mcp23017_driver/README.md

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+# Documentation
+
+[Datasheet](https://ww1.microchip.com/downloads/aemDocuments/documents/APID/ProductDocuments/DataSheets/MCP23017-Data-Sheet-DS20001952.pdf)
+
+
+### API
+
+The number indicates the section of the Datasheet.
+
+- [x] 3.5.1 I/O DIRECTION REGISTER (IODIR)
+- [x] 3.5.2 INPUT POLARITY REGISTER (IPOL)
+- [x] 3.5.3 INTERRUPT-ON-CHANGE CONTROL REGISTER (GPINTEN)
+- [x] 3.5.4 DEFAULT COMPARE REGISTER FOR INTERRUPT-ON-CHANGE (DEFVAL)
+- [x] 3.5.5 INTERRUPT CONTROL REGISTER (INTCON)
+- [x] 3.5.6 CONFIGURATION REGISTER (IOCON)
+- [x] 3.5.7 PULL-UP RESISTOR CONFIGURATION REGISTER (GPPU)
+- [x] 3.5.8 INTERRUPT FLAG REGISTER (INTF)
+- [x] 3.5.9 INTERRUPT CAPTURED REGISTER (INTCAP)
+- [x] 3.5.10 PORT REGISTER (GPIO)
+- [x] 3.5.11 OUTPUT LATCH REGISTER (OLAT)
+
+### Notes
+
+#### Usage
+
+Documentation can be found in file `mcp23017.h` as comments.
+
+#### Implementation
+
+An idea at the beginning was to use [bit-fields](https://en.cppreference.com/w/c/language/bit_field). Unfortunately it's not a viable solution because the [layout in memory is compiler dependant](https://stackoverflow.com/questions/15136426/memory-layout-of-struct-having-bitfields).
+There are ways around this but in the end I decided to scrap the idea entirely.
+I leave this information here for future developers.
+
+##### In depth explanation:
+
+The idea is to represent a register as a bit-field struct where each member contains the value of the corresponding bit. In this way, it becomes straightforward to modify or read individual bits:
+
+- To edit: `struct_name.bit_3 = 1;`
+- To read: `type variable_name = struct_name.bit_3;`
+
+To write the modifications to the device, you could convert the struct to a uint8_t through a cast, as each of its fields occupies 1 bit. At this point, you can proceed normally by writing to the device's register through I2C.
+Unfortunately, the memory layout of the struct and its members depends on the compiler.
+
+Example:
+
+```C
+BYTE_t register = {
+    .bit_0 = 1,
+    .bit_1 = 0,
+    .bit_2 = 1,
+    .bit_3 = 0,
+    .bit_4 = 0,
+    .bit_5 = 0,
+    .bit_6 = 1,
+    .bit_7 = 1
+}
+```
+
+I expect to find 10100011 in memory, and cast it to 163.
+However, it's not guaranteed that the values in memory are arranged as in the struct.
+
+---
+
+Some other code as an example
+
+
+```C
+typedef struct {
+    unsigned int bit_0 : 1,
+    bit_1 : 1,
+    bit_2 : 1,
+    bit_3 : 1,
+    bit_4 : 1,
+    bit_5 : 1,
+    bit_6 : 1,
+    bit_7 : 1;
+} BYTE_t;
+
+typedef struct {
+    BYTE_t value;
+    uint8_t address;
+} REGISTER_t;
+
+struct REGISTERS {
+    REGISTER_t IODIRA,
+    ...
+};
+```