The Bluetooth Link Layer control procedure code in subsys/bluetooth/controller/ll_sw/ull_llcp_conn_upd.c retains the received RX node while a Connection Update / Connection Parameter procedure waits for its instant, so the node can later carry the host notification (llcp_rx_node_retain(), which marks it NODE_RX_TYPE_RETAIN and thereby suppresses the normal recycling in ull.c). The default: arm of llcp_rp_cu_rx() and llcp_lp_cu_rx() — the "invalid PDU, terminate the connection" path — completed the procedure without releasing that retained node. llcp_rr_check_done() then dequeued and freed the procedure context with ctx->node_ref.rx still pointing at the retained node, dropping the last reference to it.

A peer device in radio range can reach this without pairing, bonding, or encryption. Against a peripheral, the peer sends a well-formed LL_CONNECTION_UPDATE_IND with an instant a few connection events in the future (the node is retained and the procedure enters RP_CU_STATE_WAIT_INSTANT), then, before the instant is reached, sends any other LL Control PDU such as LL_LENGTH_REQ. ull_cp_rx() routes that PDU into the active remote Connection Update procedure, which takes the invalid-PDU path. The central role is reachable symmetrically after accepting an LL_CONNECTION_PARAM_REQ, and the local-procedure variant is reachable with LL_REJECT_IND.

With CONFIG_BT_CTLR_ASSERT_DEBUG enabled (its default), the resulting state violates the invariant asserted in llcp_rr_check_done(), so th…