I am trying to develop an application based on peripheral_hids_mouse.
As part of making the application more modular and expandable, I am moving the the example's functionality into a thread context. I was surprised to see that I would get hardfaults after hitting a breakpoint. I then discovered that merely pausing and resuming the debug session would hardfault!
I have done multithreaded development before, but am new to the zephyr/nordic/vscode ecosystem.
Advice for how to debug this or why it is occurring would be appreciated! 
The error I see is:
E: MPSL ASSERT: 112, 2134
E: ***** HARD FAULT *****
E: Fault escalation (see below)
E: ARCH_EXCEPT with reason 3
E: r0/a1: 0x00000003 r1/a2: 0x00000000 r2/a3: 0x00000000
E: r3/a4: 0x20008316 r12/ip: 0x00000000 r14/lr: 0x00023367
E: xpsr: 0x61000018
E: Faulting instruction address (r15/pc): 0x00023372
E: >>> ZEPHYR FATAL ERROR 3: Kernel oops on CPU 0
E: Fault during interrupt handling
E: Current thread: 0x200034c0 (sysworkq)
The minimal example is the raw peripheral_hids_mouse example, only main() the contents of main are moved into a thread.
int main(void)
{
return 0;
}
int bt_thread(void *, void *, void *)
{
int err;
printk("Starting Bluetooth Peripheral HIDS mouse example\n");
if (IS_ENABLED(CONFIG_BT_HIDS_SECURITY_ENABLED)) {
err = bt_conn_auth_cb_register(&conn_auth_callbacks);
if (err) {
printk("Failed to register authorization callbacks.\n");
return 0;
}
err = bt_conn_auth_info_cb_register(&conn_auth_info_callbacks);
if (err) {
printk("Failed to register authorization info callbacks.\n");
return 0;
}
}
/* DIS initialized at system boot with SYS_INIT macro. */
hid_init();
err = bt_enable(NULL);
if (err) {
printk("Bluetooth init failed (err %d)\n", err);
return 0;
}
printk("Bluetooth initialized\n");
k_work_init(&hids_work, mouse_handler);
k_work_init(&adv_work, advertising_process);
if (IS_ENABLED(CONFIG_BT_HIDS_SECURITY_ENABLED)) {
k_work_init(&pairing_work, pairing_process);
}
if (IS_ENABLED(CONFIG_SETTINGS)) {
settings_load();
}
advertising_start();
configure_buttons();
while (1) {
k_sleep(K_SECONDS(1));
/* Battery level simulation */
bas_notify();
}
}
#define BT_STACK_SIZE 2048
#define BT_THREAD_PRIORITY 10
K_THREAD_DEFINE(bt_thread_id, BT_STACK_SIZE,
bt_thread, NULL, NULL, NULL,
BT_THREAD_PRIORITY, 0, 0);
