fix(panic_handler): Updated panic handler to use RTC WDT

This commit updates the following:
- Updates the panic handler to use only the RTC WDT to reset the system.
- Refactors some of the panic handler code.
- Updates Bluetooth files where in they now feed the WDTs instead of
  reconfiguring them.
- Removes some unnecessary configuration of WDTs from various files.
- Added a unit test to verify that the system does not lock up when the
  panic handler is stuck.
- Updates the memprot unit tests to work with the refactored panic
  handler.

Closes https://github.com/espressif/esp-idf/issues/15166
Closes https://github.com/espressif/esp-idf/issues/15018
Closes https://github.com/espressif/esp-idf/issues/10110

docs/en/api-guides/fatal-errors.rst

@@ -29,6 +29,8 @@ In certain situations, the execution of the program can not be continued in a we
 
 This guide explains the procedure used in ESP-IDF for handling these errors, and provides suggestions on troubleshooting the errors.
 
+.. _Panic-Handler:
+
 Panic Handler
 -------------
 
@@ -297,6 +299,8 @@ The RTC watchdog is used in the startup code to keep track of execution time and
 
 The RTC watchdog covers the execution time from the first stage bootloader (ROM bootloader) to application startup. It is initially set in the ROM bootloader, then configured in the bootloader with the :ref:`CONFIG_BOOTLOADER_WDT_TIME_MS` option (9000 ms by default). During the application initialization stage, it is reconfigured because the source of the slow clock may have changed, and finally disabled right before the ``app_main()`` call. There is an option :ref:`CONFIG_BOOTLOADER_WDT_DISABLE_IN_USER_CODE` which prevents the RTC watchdog from being disabled before ``app_main``. Instead, the RTC watchdog remains active and must be fed periodically in your application's code.
 
+The RTC watchdog is also used by the system :ref:`panic handler <Panic-Handler>` to protect the system from hanging during a panic. The RTC watchdog is reconfigured in the panic handler to have a timeout of 10 seconds. If the panic handler takes longer than 10 seconds to execute, the system will be reset by the RTC watchdog.
+
 .. _Guru-Meditation-Errors:
 
 Guru Meditation Errors