Replace esp_panic.h to avoid compiler warnings

[kagehisa]

Including esp_panic.h will generate a warning during compilation, since the file became deprecated.
By replacing it with esp_debug_helpers.h and esp_private/panic_reason.h, the generation of warnings can be avoided.

[AntumArk]

So can this be merged?

[cmumford]

@kagehisa My fix was similar to yours:

#include <esp_idf_version.h>
#include <esp_log.h>

#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(4, 0, 0)
#include <esp_debug_helpers.h>
#else
#include <esp_panic.h>
#endif