I found that the uvisor config was not under protected, the uvisor config was linked before the symbol __uvisor_secure_end, It`s different with the design.
// vmpu_arch_init_hw() in vmpu_armv7m.c
vmpu_mpu_set_static_acl(
0,
FLASH_ORIGIN,
((uint32_t) __uvisor_config.secure_end) - FLASH_ORIGIN,
UVISOR_TACLDEF_SECURE_CONST | UVISOR_TACL_EXECUTE,
0
);