From 0400c2d3a39315686290c6d4d0f6f4e8ca458c74 Mon Sep 17 00:00:00 2001
From: "J. Nick Koston" <nick@home-assistant.io>
Date: Thu, 12 Mar 2026 13:19:20 -1000
Subject: [PATCH] [i2c] Fix RP2040 I2C bus selection based on pin assignment
 instead of definition order

The RP2040 I2C bus was previously assigned Wire/Wire1 based on the order
I2C buses were defined in YAML, not based on which GPIO pins were used.
This caused I2C1 to not work when only a single bus was configured with
I2C1 pins (e.g., GPIO6/GPIO7).

Now selects the correct Wire instance using the RP2040/RP2350 GPIO pin
mapping formula: (pin / 2) % 2. Also adds config validation to catch
SDA/SCL pin mismatches and duplicate controller assignments.

Closes https://github.com/esphome/esphome/issues/14742
---
 esphome/components/i2c/__init__.py         | 30 ++++++++++++++++++++++
 esphome/components/i2c/i2c_bus_arduino.cpp |  9 ++++---
 2 files changed, 35 insertions(+), 4 deletions(-)

diff --git a/esphome/components/i2c/__init__.py b/esphome/components/i2c/__init__.py
index de3f2be6740..3884204ae5c 100644
--- a/esphome/components/i2c/__init__.py
+++ b/esphome/components/i2c/__init__.py
@@ -93,11 +93,25 @@ def _bus_declare_type(value):
     raise NotImplementedError
 
 
+def _rp2040_i2c_controller(pin):
+    """Return the I2C controller number (0 or 1) for a given RP2040/RP2350 GPIO pin."""
+    return (pin // 2) % 2
+
+
 def validate_config(config):
     if CORE.is_esp32:
         return cv.require_framework_version(
             esp_idf=cv.Version(5, 4, 2), esp32_arduino=cv.Version(3, 2, 1)
         )(config)
+    if CORE.is_rp2040:
+        sda_controller = _rp2040_i2c_controller(config[CONF_SDA])
+        scl_controller = _rp2040_i2c_controller(config[CONF_SCL])
+        if sda_controller != scl_controller:
+            raise cv.Invalid(
+                f"SDA pin GPIO{config[CONF_SDA]} is on I2C{sda_controller} but "
+                f"SCL pin GPIO{config[CONF_SCL]} is on I2C{scl_controller}. "
+                f"Both pins must be on the same I2C controller."
+            )
     return config
 
 
@@ -146,6 +160,22 @@ def _final_validate(config):
     full_config = fv.full_config.get()[CONF_I2C]
     if CORE.using_zephyr and len(full_config) > 1:
         raise cv.Invalid("Second i2c is not implemented on Zephyr yet")
+    if CORE.is_rp2040:
+        if len(full_config) > 2:
+            raise cv.Invalid(
+                "The maximum number of I2C interfaces for RP2040/RP2350 is 2"
+            )
+        if len(full_config) > 1:
+            controllers = [
+                _rp2040_i2c_controller(conf[CONF_SDA]) for conf in full_config
+            ]
+            if len(set(controllers)) != len(controllers):
+                raise cv.Invalid(
+                    "Multiple I2C buses are configured to use the same I2C controller. "
+                    "Each bus must use pins on a different controller "
+                    "(I2C0: SDA on GPIO 0,4,8,12,16,20,24,28; "
+                    "I2C1: SDA on GPIO 2,6,10,14,18,22,26)."
+                )
     if CORE.is_esp32 and get_esp32_variant() in ESP32_I2C_CAPABILITIES:
         variant = get_esp32_variant()
         max_num = ESP32_I2C_CAPABILITIES[variant]["NUM"]
diff --git a/esphome/components/i2c/i2c_bus_arduino.cpp b/esphome/components/i2c/i2c_bus_arduino.cpp
index 5120eb4c007..e339fe59fc8 100644
--- a/esphome/components/i2c/i2c_bus_arduino.cpp
+++ b/esphome/components/i2c/i2c_bus_arduino.cpp
@@ -20,12 +20,13 @@ void ArduinoI2CBus::setup() {
 #if defined(USE_ESP8266)
   wire_ = new TwoWire();  // NOLINT(cppcoreguidelines-owning-memory)
 #elif defined(USE_RP2040)
-  static bool first = true;
-  if (first) {
+  // Select Wire instance based on pin assignment, not definition order.
+  // RP2040 I2C controller is determined by GPIO: (pin / 2) % 2
+  // I2C0 SDA: GPIO 0,4,8,12,16,20,24,28  I2C1 SDA: GPIO 2,6,10,14,18,22,26
+  if ((this->sda_pin_ / 2) % 2 == 0) {
     wire_ = &Wire;
-    first = false;
   } else {
-    wire_ = &Wire1;  // NOLINT(cppcoreguidelines-owning-memory)
+    wire_ = &Wire1;
   }
 #endif