i2c: turn recovery error on init to debug

In some configurations, recovery is optional. So, don't throw an error
when it is not used because e.g. pinctrl settings for recovery are not
provided. Reword the message and make it debug output.

Reported-by: Klaus Kudielka <klaus.kudielka@gmail.com>
Tested-by: Klaus Kudielka <klaus.kudielka@gmail.com>
Signed-off-by: Wolfram Sang <wsa+renesas@sang-engineering.com>
Signed-off-by: Wolfram Sang <wsa@kernel.org>
Cc: stable@kernel.org