i2c: fix format string specifiers

[ius]

What does this implement/fix?

Building for ESP32-C6 using esp-idf and toolchain-riscv32-esp @ 12.2.0+20230208 fails:

In file included from src/esphome/components/sensor/sensor.h:3,
                 from src/esphome/core/application.h:16,
                 from src/esphome/components/i2c/i2c_bus_esp_idf.cpp:6:
src/esphome/components/i2c/i2c_bus_esp_idf.cpp: In member function 'virtual void esphome::i2c::IDFI2CBus::setup()':
src/esphome/components/i2c/i2c_bus_esp_idf.cpp:59:21: error: format '%d' expects argument of type 'int', but argument 5 has type 'long unsigned int' [-Werror=format=]
   59 |       ESP_LOGV(TAG, "i2c_timeout set to %d ticks (%d us)", timeout_ * 80, timeout_);
      |                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

src/esphome/components/i2c/i2c_bus_esp_idf.cpp:59:21: error: format '%d' expects argument of type 'int', but argument 6 has type 'uint32_t' {aka 'long unsigned int'} [-Werror=format=]
   59 |       ESP_LOGV(TAG, "i2c_timeout set to %d ticks (%d us)", timeout_ * 80, timeout_);
      |                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

This might be a RISC-V'ism - in any case the format string on line 50 uses the PRIu32 macro to format timeout_ - so let's just follow along.

Types of changes

• Bugfix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)
• Other

Related issue or feature (if applicable): introduced in #4614

Checklist:

• The code change is tested and works locally.
• Tests have been added to verify that the new code works (under tests/ folder).

If user exposed functionality or configuration variables are added/changed:

• Documentation added/updated in esphome-docs.

[probot-esphome]

Hey there @esphome/core, mind taking a look at this pull request as it has been labeled with an integration (i2c) you are listed as a code owner for? Thanks!
_{^{(message by CodeOwnersMention)}}

[codecov-commenter]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 54.21%. Comparing base (4d8b5ed) to head (a69670f).
Report is 588 commits behind head on dev.

Additional details and impacted files

@@            Coverage Diff             @@
##              dev    #6746      +/-   ##
==========================================
+ Coverage   53.70%   54.21%   +0.50%     
==========================================
  Files          50       50              
  Lines        9408     9594     +186     
  Branches     1654     1691      +37     
==========================================
+ Hits         5053     5201     +148     
- Misses       4056     4069      +13     
- Partials      299      324      +25     

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