i2c: turn recovery error on init to debug

commit e409a6a3e0690efdef9b8a96197bc61ff117cfaf upstream.

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
Signed-off-by: Greg Kroah-Hartman <gregkh@linuxfoundation.org>