esphome/tests/components/lcd_pcf8574/test.esp32-idf.yaml

i2c:
  - id: i2c_lcd_pcf8574
    scl: 16
    sda: 17

display:
  - platform: lcd_pcf8574
    dimensions: 18x4
    address: 0x3F
    user_characters:
      - position: 0
        data:
          - 0b00000
          - 0b01010
          - 0b00000
          - 0b00100
          - 0b00100
          - 0b10001
          - 0b01110
          - 0b00000
    lambda: |-
      it.print("Hello World!");