I'm settings up the security on a iMXRT1051 custom board, also tested on the IMXRT1050 EVKB.
The build is a FreeRTOS firmware and can proudly say that is running in EXIP (Encrypted eXecution In Place) flashed in a QSPI NOR. So, to recap the BEE is configured but I didn't touch anything to HAB or Central Secure Unit.
Everything was fine but I was going to close the board and securing the debugging ports.
Reading IMXRT1051SRM_rev1 and the AN4686 documents I was planning to enable the Secure JTAG mode fusing the JTAG_SMODE to 01.
Will it make possible to use the challenge/response mechanism with SWD?
Does it work only with JTAG so I need to disable the SWD entirely?