I found that you can use the 'fromelf' command (found in Keil_v5\ARM\ARMCLANG(or ARMCC)\bin directory to parse the .axf file (found in the directory containing object files). Options for fromelf command can be found online (specifically for interleaving C with asm you can use --interleave=source with source_path=<path-to-source-directory> and -c flags)