Thanks to @ErichStyger , I bought a J-Link debugger which supports both J-Tag and SWD. After reading the schematic of the board, I find the SWD interfaces (P1) and connected them to the debugger. Then I installed the JFlash in the host PC. Click "connection" and "read back > entire chip", everything works like a charm. Finally, I get the firmware which is the same as the binary compiled by MCUXpresso.