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I think this is a signal integrity issue (although it might be something with the FTDI chip or the driver). I'm able to reproduce this on Linux with a WROVER-KIT at 5Mbaud but not 2Mbaud - writing small amounts of data works at 5Mbaud speed but reading fails.
The symptom shown in the trace above is that the ESP32 sends a 0x1000 byte SLIP frame but esptool.py only reads 0xfc8 (0x38 bytes are lost somewhere in transit). As I said, I think this is most likely a signal integrity issue, some bytes are invalid on the wire and the FTDI chip is dropping them.
I've added an immediate error in the case where the SLIP frame length looks wrong when received, so it will error out if this happens. I don't think there's any viable way to work around this in esptool.py.
Running the following command hangs in the middle with no errors
esptool --trace --baud 2000000 read_flash 0xd000 0x2000 tmp.bin
However writing to flash with any baudrate works perfectly fine.
esptool --trace --baud 2000000 write_flash 0xd000 tmp.bin
LOGS:
read_flash
write_flash
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