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Cherry pick of Bluetooth controller peripheral conn update fix#51

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carrefinho wants to merge 1 commit intozmkfirmware:v4.1.0+zmk-fixesfrom
carrefinho:v4.1.0+zmk-fixes+split-conn-fix
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Cherry pick of Bluetooth controller peripheral conn update fix#51
carrefinho wants to merge 1 commit intozmkfirmware:v4.1.0+zmk-fixesfrom
carrefinho:v4.1.0+zmk-fixes+split-conn-fix

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Cherry-picks fix for peripheral assertion crash during BLE connection parameter updates from upstream Zephyr.

This is needed for the split idle interval feature (zmkfirmware/zmk#3182) which updates connection parameters when idle.

Fix peripheral role assertion during connection update and
simultaneous flash operations.

prepare_cb: Actual EVENT_OVERHEAD_START_US = 6149

This happens due to instant latency at connection update
where the ticks_at_expire was in the past.

Signed-off-by: Vinayak Kariappa Chettimada <vich@nordicsemi.no>
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