I keep having problems like frequent disconnects (reason 0x08 = BLE_HCI_CONNECTION_TIMEOUT) and NRF_FAULT_ID_SD_ASSERT on my NRF52832 (tested with S132 v3.1.0 and V5.0.0-alpha1) with the central scanner enabled, that vanish when switching the slave latency on the peripherial connection to zero.
Steps to reproduce: NRF52 device, S132 Softdevice. The NRF52 is used in both central and peripherial mode.
Peripherial is connected, preferably with a very low connection interval (12.5ms - 15ms) and non-zero slave latency (I tested a value of two for latency). Central is in scanning mode - scan intervals do not seem to play a big role here.
The tricky part: There is some data to be transferred - in my case about 30 bytes@50Hz from some I²C sensors (sending no data - or too much - seems to work just fine).
Results: Disconnects (see above) every couple of minutes and much less likely even sometimes NRF_FAULT_ID_SD_ASSERT.
These problems vanish completely once the slave latency is set to zero, without any other changes.
Is central scanning supposed to work when there is slave latency on the peripherial connection?
