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

tools/test_apps/system/memprot/main/esp32c3/test_panic.c

@@ -1,11 +1,13 @@
 /*
- * SPDX-FileCopyrightText: 2015-2022 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "riscv/rvruntime-frames.h"
 #include "esp_private/panic_internal.h"
+#include "esp_private/panic_reason.h"
+#include "hal/wdt_hal.h"
 
 #define MCAUSE_ILLEGAL_INSTRUCTION  2
 
@@ -13,8 +15,38 @@ extern void esp_panic_handler(panic_info_t *info);
 volatile bool g_override_illegal_instruction = false;
 
 void __real_esp_panic_handler(panic_info_t *info);
+void __real_esp_panic_handler_feed_wdts(void);
+void __real_esp_panic_handler_enable_rtc_wdt(uint32_t timeout_ms);
+void __real_esp_panic_handler_increment_entry_count(void);
 void __real_esp_cpu_stall(int core_id);
 
+static void disable_all_wdts(void)
+{
+    wdt_hal_context_t wdt0_context = {.inst = WDT_MWDT0, .mwdt_dev = &TIMERG0};
+#if SOC_TIMER_GROUPS >= 2
+    wdt_hal_context_t wdt1_context = {.inst = WDT_MWDT1, .mwdt_dev = &TIMERG1};
+#endif
+
+    //Todo: Refactor to use Interrupt or Task Watchdog API, and a system level WDT context
+    //Task WDT is the Main Watchdog Timer of Timer Group 0
+    wdt_hal_write_protect_disable(&wdt0_context);
+    wdt_hal_disable(&wdt0_context);
+    wdt_hal_write_protect_enable(&wdt0_context);
+
+#if SOC_TIMER_GROUPS >= 2
+    //Interrupt WDT is the Main Watchdog Timer of Timer Group 1
+    wdt_hal_write_protect_disable(&wdt1_context);
+    wdt_hal_disable(&wdt1_context);
+    wdt_hal_write_protect_enable(&wdt1_context);
+#endif
+
+    //Disable RTC WDT
+    wdt_hal_context_t rtc_wdt_ctx = RWDT_HAL_CONTEXT_DEFAULT();
+    wdt_hal_write_protect_disable(&rtc_wdt_ctx);
+    wdt_hal_disable(&rtc_wdt_ctx);
+    wdt_hal_write_protect_enable(&rtc_wdt_ctx);
+}
+
 void return_from_panic_handler(RvExcFrame *frm) __attribute__((noreturn));
 
 /* Memprot test specific IllegalInstruction exception handler:
@@ -44,6 +76,34 @@ void __wrap_esp_panic_handler(panic_info_t *info)
     }
 }
 
+void __wrap_esp_panic_handler_feed_wdts(void)
+{
+    if ( g_override_illegal_instruction == true ) {
+        disable_all_wdts();
+        return;
+    } else {
+        __real_esp_panic_handler_feed_wdts();
+    }
+}
+
+void __wrap_esp_panic_handler_enable_rtc_wdt(uint32_t timeout_ms)
+{
+    if ( g_override_illegal_instruction == true ) {
+        return;
+    } else {
+        __real_esp_panic_handler_enable_rtc_wdt(timeout_ms);
+    }
+}
+
+void __wrap_esp_panic_handler_increment_entry_count(void)
+{
+    if ( g_override_illegal_instruction == true ) {
+        return;
+    } else {
+        __real_esp_panic_handler_increment_entry_count();
+    }
+}
+
 void __wrap_esp_cpu_stall(int core_id)
 {
     if ( g_override_illegal_instruction == true ) {