fix(bt/controller): Fixed some controller bugs on ESP32

    - Fixed access NULL in SCO frame end
      Closes https://jira.espressif.com:8443/browse/IDFGH-10796
    - Added LAP checking for Periodic Inquiry
    - Removed an inproper assertion in SCO module
    - Fixed wrong logic in key exchange when
      LMP transaction collision occurred
    - Fixed the using of wrong error code in
      the transaction collision of role switch

Author: BetterJincheng