MPU FAULT during gatt service discovery

[Richard11115]

I'm trying to connect to 15 BLE devices. I've followed the code at: https://github.com/NordicMatt/multi-NUS/ but have modified it to filter by the device name and then write to a specific characteristic once it has discovered the services. I'm using a nRF528040-DK and the nRF Connect SDK v2.4.1

This works great up to about 12 devices. However when I try to connect to more than 12 devices I will intermittently get this error

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[00:00:13.189,636] <err> os: ***** MPU FAULT *****

[00:00:13.189,636] <err> os: Instruction Access Violation

[00:00:13.189,666] <err> os: r0/a1: 0x200027e8 r1/a2: 0x00000000 r2/a3: 0x2000d918

[00:00:13.189,697] <err> os: r3/a4: 0x20011efc r12/ip: 0x00000013 r14/lr: 0x0003043f

[00:00:13.189,697] <err> os: xpsr: 0x60000000

[00:00:13.189,727] <err> os: Faulting instruction address (r15/pc): 0x20011efc

[00:00:13.189,758] <err> os: >>> ZEPHYR FATAL ERROR 20: Unknown error on CPU 0

[00:00:13.189,788] <err> os: Current thread: 0x200021c0 (BT RX)

[00:00:13.320,098] <err> os: Halting system

XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

[00:00:13.189,636] <err> os: ***** MPU FAULT *****
[00:00:13.189,636] <err> os:   Instruction Access Violation
[00:00:13.189,666] <err> os: r0/a1:  0x200027e8  r1/a2:  0x00000000  r2/a3:  0x2000d918
[00:00:13.189,697] <err> os: r3/a4:  0x20011efc r12/ip:  0x00000013 r14/lr:  0x0003043f
[00:00:13.189,697] <err> os:  xpsr:  0x60000000
[00:00:13.189,727] <err> os: Faulting instruction address (r15/pc): 0x20011efc
[00:00:13.189,758] <err> os: >>> ZEPHYR FATAL ERROR 20: Unknown error on CPU 0
[00:00:13.189,788] <err> os: Current thread: 0x200021c0 (BT RX)
[00:00:13.320,098] <err> os: Halting system

The error however doesn't occur after the 12th connection but right after I run this code:

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bt_gatt_dm_start

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bt_gatt_dm_start

at a random connection (i.e. one time it occurs after the 15th connection, another time after the 3rd connection). However the error only occurs when I'm trying to connect to more than 12 devices (i.e. when I run bt_scan_filter_add 12 or more times)

but before my discovery_complete callback is called from logging at different points in my application. 

I saw some other issues like this and took steps to address the issues from them:

From RE: MPU FAULT occurs when discovering attributes of client I enabled CONFIG_THREAD_NAME=y and saw that the error occurs in the Current thread: 0x200021c0 (BT RX) I then increased added CONFIG_BT_RX_STACK_SIZE=4096 to my prj.conf

From  MPU Fault with NCS Zephyr on nrf52840s I tried looking at the thread stack usage but everything seems normal (this is with CONFIG_THREAD_ANALYZER_AUTO_INTERVAL=5)

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Thread analyze:

BT CTLR ECDH : STACK: unused 176 usage 728 / 904 (80 %); CPU: 0 %

: Total CPU cycles used: 849

BT RX : STACK: unused 2680 usage 1416 / 4096 (34 %); CPU: 0 %

: Total CPU cycles used: 733

BT TX : STACK: unused 760 usage 776 / 1536 (50 %); CPU: 0 %

: Total CPU cycles used: 519

thread_analyzer : STACK: unused 592 usage 432 / 1024 (42 %); CPU: 0 %

: Total CPU cycles used: 213

sysworkq : STACK: unused 3320 usage 776 / 4096 (18 %); CPU: 0 %

: Total CPU cycles used: 109

MPSL Work : STACK: unused 500 usage 524 / 1024 (51 %); CPU: 0 %

: Total CPU cycles used: 1761

BT_LW_WQ : STACK: unused 640 usage 664 / 1304 (50 %); CPU: 0 %

: Total CPU cycles used: 35

logging : STACK: unused 120 usage 648 / 768 (84 %); CPU: 8 %

: Total CPU cycles used: 27144

idle : STACK: unused 224 usage 96 / 320 (30 %); CPU: 90 %

: Total CPU cycles used: 299607

ISR0 : STACK: unused 936 usage 1112 / 2048 (54 %)

XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

Thread analyze:
 BT CTLR ECDH        : STACK: unused 176 usage 728 / 904 (80 %); CPU: 0 %
      : Total CPU cycles used: 849
 BT RX               : STACK: unused 2680 usage 1416 / 4096 (34 %); CPU: 0 %
      : Total CPU cycles used: 733
 BT TX               : STACK: unused 760 usage 776 / 1536 (50 %); CPU: 0 %
      : Total CPU cycles used: 519
 thread_analyzer     : STACK: unused 592 usage 432 / 1024 (42 %); CPU: 0 %
      : Total CPU cycles used: 213
 sysworkq            : STACK: unused 3320 usage 776 / 4096 (18 %); CPU: 0 %
      : Total CPU cycles used: 109
 MPSL Work           : STACK: unused 500 usage 524 / 1024 (51 %); CPU: 0 %
      : Total CPU cycles used: 1761
 BT_LW_WQ            : STACK: unused 640 usage 664 / 1304 (50 %); CPU: 0 %
      : Total CPU cycles used: 35
 logging             : STACK: unused 120 usage 648 / 768 (84 %); CPU: 8 %
      : Total CPU cycles used: 27144
 idle                : STACK: unused 224 usage 96 / 320 (30 %); CPU: 90 %
      : Total CPU cycles used: 299607
 ISR0                : STACK: unused 936 usage 1112 / 2048 (54 %)

I'm new to the nRF5280 so any help with ways I can further debug this would be appreciated.

Here's my prj.conf as a reference:

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# Enable the BLE stack with GATT Client configuration

CONFIG_BT=y

CONFIG_BT_CENTRAL=y

CONFIG_BT_SMP=y

CONFIG_BT_GATT_CLIENT=y

CONFIG_BT_MAX_CONN=15

CONFIG_BT_CONN_CTX=y

# Enable BLE modules

CONFIG_BT_SCAN=y

CONFIG_BT_SCAN_FILTER_ENABLE=y

CONFIG_BT_GATT_DM=y

CONFIG_HEAP_MEM_POOL_SIZE=2048

CONFIG_BT_SCAN_NAME_CNT=15

CONFIG_BT_GATT_DM_DATA_PRINT=y

CONFIG_BT_RX_STACK_SIZE=4096

# Logging

CONFIG_LOG=y

# Handle faults better

XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

# Enable the BLE stack with GATT Client configuration
CONFIG_BT=y
CONFIG_BT_CENTRAL=y
CONFIG_BT_SMP=y
CONFIG_BT_GATT_CLIENT=y
CONFIG_BT_MAX_CONN=15
CONFIG_BT_CONN_CTX=y

# Enable BLE modules
CONFIG_BT_SCAN=y
CONFIG_BT_SCAN_FILTER_ENABLE=y
CONFIG_BT_GATT_DM=y
CONFIG_HEAP_MEM_POOL_SIZE=2048
CONFIG_BT_SCAN_NAME_CNT=15
CONFIG_BT_GATT_DM_DATA_PRINT=y
CONFIG_BT_RX_STACK_SIZE=4096

# Logging
CONFIG_LOG=y

# Handle faults better
CONFIG_THREAD_NAME=y
CONFIG_RESET_ON_FATAL_ERROR=n
CONFIG_INIT_STACKS=y
CONFIG_THREAD_STACK_INFO=y
CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE=4096
CONFIG_MAIN_STACK_SIZE=2048
CONFIG_MPU_STACK_GUARD=y

CONFIG_THREAD_ANALYZER=y
CONFIG_THREAD_ANALYZER_USE_PRINTK=y
CONFIG_THREAD_ANALYZER_AUTO=y
CONFIG_THREAD_ANALYZER_AUTO_INTERVAL=5

I also saw  RE: MPU Fault when attempting to subscribe to BLE notifications and in my zephyr.map I found that the faulting faulting instruction address (0x20011efc) is

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0x0000000020011efc 0x60 zephyr/subsys/bluetooth/host/libsubsys__bluetooth__host.a(conn.c.obj)

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                0x0000000020011efc       0x60 zephyr/subsys/bluetooth/host/libsubsys__bluetooth__host.a(conn.c.obj)

The surrounding area looks like:

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*fill* 0x0000000020011dde 0x2

.noinit."WEST_TOPDIR/zephyr/subsys/bluetooth/host/conn.c".2

0x0000000020011de0 0x40 zephyr/subsys/bluetooth/host/libsubsys__bluetooth__host.a(conn.c.obj)

.noinit."WEST_TOPDIR/zephyr/subsys/bluetooth/host/conn.c".1

0x0000000020011e20 0xdb zephyr/subsys/bluetooth/host/libsubsys__bluetooth__host.a(conn.c.obj)

*fill* 0x0000000020011efb 0x1

.noinit."WEST_TOPDIR/zephyr/subsys/bluetooth/host/conn.c".0

0x0000000020011efc 0x60 zephyr/subsys/bluetooth/host/libsubsys__bluetooth__host.a(conn.c.obj)

.noinit."WEST_TOPDIR/zephyr/subsys/bluetooth/host/att.c".k_mem_slab_buf_att_slab

0x0000000020011f5c 0x294 zephyr/subsys/bluetooth/host/libsubsys__bluetooth__host.a(att.c.obj)

0x0000000020011f5c _k_mem_slab_buf_att_slab

.noinit."WEST_TOPDIR/zephyr/subsys/bluetooth/host/att.c".k_mem_slab_buf_req_slab

0x00000000200121f0 0x54 zephyr/subsys/bluetooth/host/libsubsys__bluetooth__host.a(att.c.obj)

0x00000000200121f0 _k_mem_slab_buf_req_slab

*(SORT_BY_ALIGNMENT(.kernel_noinit.*))

0x0000000020012244 _image_ram_end = .

0x0000000020012244 _end = .

0x0000000020040000 __kernel_ram_end = 0x20040000

0x000000000003f408 __kernel_ram_size = (__kernel_ram_end - __kernel_ram_start)

XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

 *fill*         0x0000000020011dde        0x2 
 .noinit."WEST_TOPDIR/zephyr/subsys/bluetooth/host/conn.c".2
                0x0000000020011de0       0x40 zephyr/subsys/bluetooth/host/libsubsys__bluetooth__host.a(conn.c.obj)
 .noinit."WEST_TOPDIR/zephyr/subsys/bluetooth/host/conn.c".1
                0x0000000020011e20       0xdb zephyr/subsys/bluetooth/host/libsubsys__bluetooth__host.a(conn.c.obj)
 *fill*         0x0000000020011efb        0x1 
 .noinit."WEST_TOPDIR/zephyr/subsys/bluetooth/host/conn.c".0
                0x0000000020011efc       0x60 zephyr/subsys/bluetooth/host/libsubsys__bluetooth__host.a(conn.c.obj)
 .noinit."WEST_TOPDIR/zephyr/subsys/bluetooth/host/att.c".k_mem_slab_buf_att_slab
                0x0000000020011f5c      0x294 zephyr/subsys/bluetooth/host/libsubsys__bluetooth__host.a(att.c.obj)
                0x0000000020011f5c                _k_mem_slab_buf_att_slab
 .noinit."WEST_TOPDIR/zephyr/subsys/bluetooth/host/att.c".k_mem_slab_buf_req_slab
                0x00000000200121f0       0x54 zephyr/subsys/bluetooth/host/libsubsys__bluetooth__host.a(att.c.obj)
                0x00000000200121f0                _k_mem_slab_buf_req_slab
 *(SORT_BY_ALIGNMENT(.kernel_noinit.*))
                0x0000000020012244                _image_ram_end = .
                0x0000000020012244                _end = .
                0x0000000020040000                __kernel_ram_end = 0x20040000
                0x000000000003f408                __kernel_ram_size = (__kernel_ram_end - __kernel_ram_start)

For reference here is my code

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// Kernal

#include <zephyr/kernel.h>

// Bluetooth

#include <bluetooth/conn_ctx.h>

#include <bluetooth/gatt_dm.h>

#include <bluetooth/scan.h>

#include <zephyr/bluetooth/bluetooth.h>

#include <zephyr/bluetooth/conn.h>

#include <zephyr/bluetooth/gatt.h>

// Logging

#include <zephyr/debug/thread_analyzer.h>

#include <zephyr/logging/log.h>

// Clients

#include "ble/sphero_client.h"

/*Note that UUIDs have Least Significant Byte ordering */

#define SPHERO_SERVICE_UUID 0x21, 0x21, 0x6F, 0x72, 0x65, 0x68, 0x70, 0x53, 0x20, 0x4F, 0x4F, 0x57, 0x01, 0x00, 0x01, 0x00

#define BT_SPHERO_SERVICE_UUID BT_UUID_DECLARE_128(SPHERO_SERVICE_UUID)

#define SPHERO_CHARACTERISTIC_UUID 0x21, 0x21, 0x6F, 0x72, 0x65, 0x68, 0x70, 0x53, 0x20, 0x4F, 0x4F, 0x57, 0x02, 0x00, 0x01, 0x00

#define BT_SPHERO_CHARACTERISTIC_UUID BT_UUID_DECLARE_128(SPHERO_CHARACTERISTIC_UUID)

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// Kernal
#include <zephyr/kernel.h>
// Bluetooth
#include <bluetooth/conn_ctx.h>
#include <bluetooth/gatt_dm.h>
#include <bluetooth/scan.h>
#include <zephyr/bluetooth/bluetooth.h>
#include <zephyr/bluetooth/conn.h>
#include <zephyr/bluetooth/gatt.h>
// Logging
#include <zephyr/debug/thread_analyzer.h>
#include <zephyr/logging/log.h>
// Clients
#include "ble/sphero_client.h"

/*Note that UUIDs have Least Significant Byte ordering */
#define SPHERO_SERVICE_UUID 0x21, 0x21, 0x6F, 0x72, 0x65, 0x68, 0x70, 0x53, 0x20, 0x4F, 0x4F, 0x57, 0x01, 0x00, 0x01, 0x00
#define BT_SPHERO_SERVICE_UUID BT_UUID_DECLARE_128(SPHERO_SERVICE_UUID)

#define SPHERO_CHARACTERISTIC_UUID 0x21, 0x21, 0x6F, 0x72, 0x65, 0x68, 0x70, 0x53, 0x20, 0x4F, 0x4F, 0x57, 0x02, 0x00, 0x01, 0x00
#define BT_SPHERO_CHARACTERISTIC_UUID BT_UUID_DECLARE_128(SPHERO_CHARACTERISTIC_UUID)

LOG_MODULE_REGISTER(main, LOG_LEVEL_DBG);

static struct bt_conn* default_conn;

BT_CONN_CTX_DEF(conns, CONFIG_BT_MAX_CONN, sizeof(struct bt_sphero_client));

static void exchange_func(struct bt_conn* conn, uint8_t err, struct bt_gatt_exchange_params* params)
{
    if (!err) {
        LOG_INF("exchange func: MTU exchange done");
    } else {
        LOG_WRN("exchange func: MTU exchange failed (err %d)", err);
    }
}

static void on_sent(struct bt_conn* conn, uint8_t err,
    struct bt_gatt_write_params* params)
{
    LOG_DBG("Sent had error code: %d", err);
}

static void discovery_complete(struct bt_gatt_dm* dm, void* context)
{
    LOG_INF("Discovery complete");

    // Send the wake up command

    struct bt_conn* conn = bt_gatt_dm_conn_get(dm);

    if (!conn) {
        LOG_ERR("Could not get connection");
        return;
    }

    const struct bt_gatt_dm_attr* gatt_chrc;
    gatt_chrc = bt_gatt_dm_char_by_uuid(dm, BT_SPHERO_CHARACTERISTIC_UUID);

    if (!gatt_chrc) {
        LOG_ERR("Could not find characteristic");
        return;
    }

    const struct bt_gatt_dm_attr* gatt_desc;
    gatt_desc = bt_gatt_dm_desc_by_uuid(dm, gatt_chrc, BT_SPHERO_CHARACTERISTIC_UUID);

    if (!gatt_desc) {
        LOG_ERR("Could not find descriptor");
        return;
    }

    struct bt_gatt_chrc* gatt_chrc_val = bt_gatt_dm_attr_chrc_val(gatt_chrc);

    if (!gatt_chrc_val) {
        LOG_ERR("Could not get characteristic value");
        return;
    }

    LOG_INF("Got characteristic");

    struct bt_gatt_write_params write_params;

    LOG_DBG("Value handle: %d", gatt_chrc_val->value_handle);
    LOG_DBG("DESC handle: %d", gatt_desc->handle);

    unsigned char data[] = { 0x8d, 0xa, 0x13, 0xd, 0x0, 0xd5, 0xd8 };

    write_params.func = on_sent;
    write_params.handle = gatt_desc->handle;
    write_params.offset = 0;
    write_params.data = data;
    write_params.length = 7;

    LOG_INF("Sending command");

    int err;

    err = bt_gatt_write(conn, &write_params);
    if (err) {
        LOG_ERR("Error when sending command");
    }

    bt_gatt_dm_data_release(dm);

    err = bt_scan_start(BT_SCAN_TYPE_SCAN_ACTIVE);
    if (err) {
        LOG_ERR("Scanning failed to start (err %d)", err);
    } else {
        LOG_INF("Scanning started");
    }
}

static void discovery_service_not_found(struct bt_conn* conn,
    void* context)
{
    LOG_INF("Service not found");

    int err = bt_scan_start(BT_SCAN_TYPE_SCAN_ACTIVE);
    if (err) {
        LOG_ERR("Scanning failed to start (err %d)", err);
    } else {
        LOG_INF("Scanning started");
    }
}

static void discovery_error(struct bt_conn* conn,
    int err,
    void* context)
{
    LOG_WRN("Error while discovering GATT database: (%d)", err);
}

struct bt_gatt_dm_cb discovery_cb = {
    .completed = discovery_complete,
    .service_not_found = discovery_service_not_found,
    .error_found = discovery_error,
};

static void gatt_discover(struct bt_conn* conn)
{
    int err;

    err = bt_gatt_dm_start(conn, BT_SPHERO_SERVICE_UUID, &discovery_cb, NULL);

    if (err) {
        LOG_ERR("Could not start the discovery procedure, error: %d", err);
    }
}

static void connected(struct bt_conn* conn, uint8_t conn_err)
{
    char addr[BT_ADDR_LE_STR_LEN];
    int err;

    bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr));

    if (conn_err) {
        LOG_INF("Failed to connect to %s (%d)", addr, conn_err);

        if (default_conn == conn) {
            bt_conn_unref(default_conn);
            default_conn = NULL;

            err = bt_scan_start(BT_SCAN_TYPE_SCAN_ACTIVE);
            if (err) {
                LOG_ERR("Scanning failed to start (err %d)", err);
            }
        }

        return;
    }

    LOG_INF("Connected: %s", addr);

    err = bt_conn_set_security(conn, BT_SECURITY_L1);

    if (err) {
        LOG_ERR("Failed to set security (err %d)", err);

        gatt_discover(conn);
    } else {
        LOG_INF("Security level set");
        gatt_discover(conn);
        LOG_DBG("Discovering GATT database");
    }

    // Stop scanning during discovery

    err = bt_scan_stop();
    LOG_DBG("Stopped scanning");
    if ((!err) && (err != -EALREADY)) {
        LOG_ERR("Stop LE scan failed (err %d)", err);
    }

    // err = bt_scan_stop();
    // if ((!err) && (err != -EALREADY)) {
    //     LOG_ERR("Stop LE scan failed (err %d)", err);
    // }
}

static void disconnected(struct bt_conn* conn, uint8_t reason)
{
    char addr[BT_ADDR_LE_STR_LEN];
    int err;

    bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr));

    LOG_INF("Disconnected: %s (reason %u)", addr,
        reason);

    err = bt_conn_ctx_free(&conns_ctx_lib, conn);

    if (err) {
        LOG_WRN("The connection context could not be freed (err %d)", err);
    }

    bt_conn_unref(conn);
    default_conn = NULL;
}

static void security_changed(struct bt_conn* conn, bt_security_t level,
    enum bt_security_err err)
{
    char addr[BT_ADDR_LE_STR_LEN];

    bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr));

    if (!err) {
        LOG_INF("Security changed: %s level %u", addr, level);
    } else {
        LOG_WRN("Security failed: %s level %u err %d", addr,
            level, err);
    }

    gatt_discover(conn);
}

BT_CONN_CB_DEFINE(conn_callbacks) = {
    .connected = connected,
    .disconnected = disconnected,
    .security_changed = security_changed,
};

static void scan_filter_match(struct bt_scan_device_info* device_info, struct bt_scan_filter_match* filter_match, bool connectable)
{
    char addr[BT_ADDR_LE_STR_LEN];

    bt_addr_le_to_str(device_info->recv_info->addr, addr, sizeof(addr));

    LOG_INF("Filters matched. Address: %s connectable: %d",
        addr, connectable);
}

static void scan_connecting_error(struct bt_scan_device_info* device_info)
{
    LOG_ERR("Connecting failed");
}

#define NAME_LEN 30

static bool data_cb(struct bt_data* data, void* user_data)
{
    uint8_t len;
    char* name = user_data;

    switch (data->type) {
    case BT_DATA_NAME_SHORTENED:
    case BT_DATA_NAME_COMPLETE:
        len = MIN(data->data_len, NAME_LEN - 1);
        memcpy(name, data->data, len);
        name[len] = '\0';
        return false;
    default:
        return true;
    }
}

static void scan_connecting(struct bt_scan_device_info* device_info, struct bt_conn* conn)
{
    char name[NAME_LEN];

    (void)memset(name, 0, sizeof(name));

    bt_data_parse(device_info->adv_data, data_cb, name);

    LOG_DBG("Connecting to %s", name);

    default_conn = bt_conn_ref(conn);
}

BT_SCAN_CB_INIT(scan_cb, scan_filter_match, NULL, scan_connecting_error, scan_connecting);

static int scan_init(void)
{
    int err;
    struct bt_scan_init_param scan_init = {
        .connect_if_match = 1,
        .scan_param = BT_LE_SCAN_PARAM(BT_LE_SCAN_TYPE_ACTIVE, BT_LE_SCAN_OPT_NONE,
            BT_GAP_SCAN_FAST_INTERVAL, BT_GAP_SCAN_FAST_WINDOW),
    };

    bt_scan_init(&scan_init);
    bt_scan_cb_register(&scan_cb);

    int sphero_names_len = 15;

    char* sphero_names[] = {
        "SB-1B35",
        "SB-F860",
        "SB-2175",
        "SB-3026",
        "SB-618E",
        "SB-6B58",
        "SB-9938",
        "SB-BFD4",
        "SB-C1D2",
        "SB-CEFA",
        "SB-DF1D",
        "SB-F465",
        "SB-F479",
        "SB-F885",
        "SB-FCB2"
    };

    for (int i = 0; i < sphero_names_len; i++) {
        err = bt_scan_filter_add(BT_SCAN_FILTER_TYPE_NAME, sphero_names[i]);
        if (err) {
            LOG_ERR("Scanning filters cannot be set (err %d)", err);
            return err;
        }
    }

    err = bt_scan_filter_enable(BT_SCAN_NAME_FILTER, false);
    if (err) {
        LOG_ERR("Filters cannot be turned on (err %d)", err);
        return err;
    }

    LOG_INF("Scan module initialized");
    return err;
}

static void auth_cancel(struct bt_conn* conn)
{
    char addr[BT_ADDR_LE_STR_LEN];

    bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr));

    LOG_INF("Pairing cancelled: %s", addr);
}

static void pairing_complete(struct bt_conn* conn, bool bonded)
{
    char addr[BT_ADDR_LE_STR_LEN];

    bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr));

    LOG_INF("Pairing complete: %s, bonded: %d", addr, bonded);
}

static void pairing_failed(struct bt_conn* conn, enum bt_security_err reason)
{
    char addr[BT_ADDR_LE_STR_LEN];

    bt_addr_le_to_str(bt_conn_get_dst(conn), addr, sizeof(addr));

    LOG_INF("Pairing failed conn: %s, reason %d", addr, reason);
}

static struct bt_conn_auth_cb conn_auth_callbacks = {
    .cancel = auth_cancel,
};

static struct bt_conn_auth_info_cb conn_auth_info_callbacks = {
    .pairing_complete = pairing_complete,
    .pairing_failed = pairing_failed,
};

int main()
{
    int err;

    err = bt_conn_auth_cb_register(&conn_auth_callbacks);
    if (err) {
        LOG_ERR("Failed to register authorization callback (err %d)", err);
        return 0;
    }

    err = bt_conn_auth_info_cb_register(&conn_auth_info_callbacks);
    if (err) {
        LOG_ERR("Failed to register authorization info callback (err %d)", err);
        return 0;
    }

    err = bt_enable(NULL);
    if (err) {
        LOG_ERR("Bluetooth init failed (err %d)", err);
        return 0;
    }

    LOG_INF("Bluetooth initialized");

    err = scan_init();
    if (err != 0) {
        LOG_ERR("Scan module failed to initialize (err %d)", err);
        return 0;
    }

    err = bt_scan_start(BT_SCAN_TYPE_SCAN_ACTIVE);
    if (err) {
        LOG_ERR("Scanning failed to start (err %d)", err);
        return 0;
    }

    LOG_INF("Scanning successfully started");

    return 1;
}

Update 03/08/23

Following  Understanding a FATAL ERROR in my application  tried running the code with the debugger. However it didn't break when the fault occurred, instead I had to manually pause it after seeing the fault be logged.

The call stack is interesting. While the log says the fault occurred in the BT RX thread the call stack says it occured in the BT TX Thread (see image above). When I commend out my bt_gatt_write the error does stop. However I don't know how to fix the error while still being able to write to the characteristics

[tiva4c]

Make struct bt_gatt_write_params write_params global because the params should be kept valid, it'll solve the problem