Merge branch 'bugfix/int-wdt-fix' into 'master'

Fix the things that broke when adding the new WDTs

Seemingly, I broke a bunch of things when adding the interrupt WDTs and moved the panic handler to the esp32 directory. This fixes that, as well as the issue where flashing would trigger the int wdt. It also bodges in a fix for a merge artifact breaking the halt-on-first-thread-when-openocd-is-connected; that fix should be refined later.

See merge request !157