Improve RGBMatrix reliability

The guard against running when flash is disabled isn't perfect and
may lead to calling the row handler anyway. We were crashing due
to mp_hal_delay_us being in flash. So, move it to RAM.

Also move the panic handler to IRAM so we get nice output when this
happens.

Turn off JTAG by default so its pins can be used by code.py.

Fixes #8987

Author: tannewt

.gitmodules

@@ -143,7 +143,7 @@
 [submodule "ports/espressif/esp-idf"]
 	path = ports/espressif/esp-idf
 	url = https://github.com/adafruit/esp-idf.git
-	branch = circuitpython-v5.1.2
+	branch = circuitpython-v5.1.3
 [submodule "ports/espressif/esp-protocols"]
 	path = ports/espressif/esp-protocols
 	url = https://github.com/espressif/esp-protocols.git

ports/espressif/esp-idf

@@ -33,6 +33,7 @@ CONFIG_GPTIMER_ISR_IRAM_SAFE=y
 #
 CONFIG_ESP_MAIN_TASK_STACK_SIZE=16384
 # CONFIG_ESP_TASK_WDT_INIT is not set
+CONFIG_ESP_PANIC_HANDLER_IRAM=y
 # CONFIG_ESP_DEBUG_OCDAWARE is not set
 # end of ESP System Settings
 

ports/espressif/esp-idf-config/sdkconfig.defaults

@@ -44,7 +44,11 @@
 #error Unknown CONFIG_IDF_TARGET_xxx
 #endif
 
-void mp_hal_delay_us(mp_uint_t delay) {
+#include "esp_attr.h"
+
+// This is used by ProtoMatter's interrupt so make sure it is available when
+// flash isn't.
+void IRAM_ATTR mp_hal_delay_us(mp_uint_t delay) {
     ets_delay_us(delay);
 }
 

ports/espressif/mphalport.c

@@ -270,7 +270,7 @@ safe_mode_t port_init(void) {
     #endif
 
     #ifndef ENABLE_JTAG
-    #define ENABLE_JTAG (defined(DEBUG) && DEBUG)
+    #define ENABLE_JTAG (0)
     #endif
 
     #if ENABLE_JTAG

ports/espressif/supervisor/port.c

@@ -171,6 +171,9 @@ void usb_background(void) {
         #if CIRCUITPY_USB_HOST
         tuh_task();
         #endif
+        #else
+        // Yield to the RTOS in case TinyUSB runs in a separate task.
+        port_yield();
         #endif
         // No need to flush if there's no REPL.
         #if CIRCUITPY_USB_CDC