Solution:
FreeRTOSConfig.h changes:
- add extern uint32_t SystemCoreClock; into the file
- make sure configSYSTICK_CLOCK_HZ is NOT defined
- set configENABLE_TRUSTZONE to 0
- set configRUN_FREERTOS_SECURE_ONLY to 0
- set configENABLE_MPU to 0
main.c changes
- call SystemCoreClockUpdate() before vTaskStartScheduler call
project changes:
- add the following port into the project
${FREERTOS_SRC_PATH}/portable/GCC/ARM_CM33_NTZ/non_secure