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You usually do not need to update the firmware of CMSIS-DAP. CMSIS-DAP is debugging function done by NXP device on the Mbed board(GR-LYCHEE) and the firmware is downloaded into it. So, it's different from RZ/A1LU software(firmware).
How to Update the firmware for GR-LYCHEE¶
The latest Arm Mbed DAPLink interface firmware for GR-LYCHEE available at (click the image):
Step by step firmware upgrade instructions