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Unable to download program through cmsis-dap debugger

The program can be downloaded through cmsis-dap before. Is it possible that I updated all the packages before installing ESP-IDF? I don’t know what is causing this situation, and I don’t know how to solve it.

Configuring upload protocol...
AVAILABLE: blackmagic, cmsis-dap, dfu, jlink, serial, stlink
CURRENT: upload_protocol = cmsis-dap
Uploading .pio\build\genericSTM32F103C8\firmware.elf
xPack OpenOCD, x86_64 Open On-Chip Debugger 0.11.0-00155-ge392e485e (2021-03-15-16:44)
Licensed under GNU GPL v2
For bug reports, read
        http://openocd.org/doc/doxygen/bugs.html
debug_level: 1

swd
Warn : Using CMSIS-DAPv2 interface 1 with wrong class 10 subclass 0 or protocol 0
Warn : could not claim interface: Operation not supported or unimplemented on this platform
Error: error writing data: Entity not found
Error: CMSIS-DAP command CMD_INFO failed.
Error: No Valid JTAG Interface Configured.
*** [upload] Error 4294967295

Looks like OpenOCD in the used version 0.11.0-00155-ge392e485e (2021-03-15-16:44) has problems accessing your adapter.

There’s a few things you can try. The available OpenOCD versions PlatformIO supports are listed here. Using platform_packages you can select a different version. E.g., add

platform_packages =
   tool-openocd@~2.1000.0

to the platformio.ini to usue a OpenOCD 0.10.0 version instead. Or ~1.900.0.

If that still does not work, file a bug with OpenOCD at https://sourceforge.net/p/openocd/tickets/.