Improve RGBMatrix reliability; update to ESP-IDF v5.1.3 #9008
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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