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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-PEACH) and the firmware is downloaded into it. So, it's different from RZ/A1H software(firmware).
How to Update the firmware for GR-PEACH¶
The latest Arm Mbed DAPLink interface firmware for GR-PEACH available at (click the image):
Step by step firmware upgrade instructions
If "CRP DISABLD" does not mount by the above method please try the following.
Please make a short-circuit at JP2 when connecting GR-PEACH and PC with USB cable.
If "mbed" appears, the short-circuit of JP2 doesn't succeed.
When GR-PEACH connected as "CRP DISABLED", JP2 can be opened during firmware updating.