Gazell data lag when more than 1 device is connected

[LT_Viktor]

Hi! I am fairly new to programming micro controllers so apologies if I ask many questions. I am using NRF52832. The situation is this - I have 2 devices and 1 host . After receiving data the host then sends data via UART to FT232RL and then to a computer. The devices are running on different pipes, however when both devices are sending data to the host some bytes are being skipped and there is this lagging as well - the data comes not consistently but in steps. Any ideas or advice ?

Here is the host's main code Host Device.txt

And here is the devices' code (it's quite a mess, sorry). Device.txt

[LT_Viktor]

Ok. I have managed to fix the byte skipping by using this answer. However, now I have data coming in little bursts at first and then it slows down gradually to a very slow rate... When I reset the host same thing happens again.

[LT_Viktor]

My UART baudate is 921600. From each device I am trying to send 19.2 kbps (24 bytes, at 100 Hz). Indeed it is not a standard development kit - it is something I got together myself. The host has only the NRF52832 and the FT232RL and the devices have IMU devices (LSM330DLC). I think I am having trouble with syncing the devices, as by changing the sync time the flow of data from the devices changes. So far the best result was when the devices and the host had the same time slot time (1200) and 2mbps data rate. How can I attach a file to a comment ? The code is pretty long and won't fit in the comment.