In TF-M, we using -g option, and the default level is DWARF 4 in latest Arm compiler. And the Keil-MDK don't support DWARF 4 debug information. It makes the Keil can't debug the tfm binary which compiled with cmake.
Could you please change the -g option to -gdwarf-2 in cmake/Compiler/ARMClang.cmake? or we need to add some special documents for build and debug tf-m on Keil/DS-5.