diff --git a/samples/arch/mpu/mpu_test/README.rst b/samples/arch/mpu/mpu_test/README.rst
index 23c89b681e8..e4b4cc89359 100644
--- a/samples/arch/mpu/mpu_test/README.rst
+++ b/samples/arch/mpu/mpu_test/README.rst
@@ -43,6 +43,9 @@ proper configs.
 Sample Output
 =============
 
+When running the above on an ARMv7 or ARMv8 CPU, the output of each command may look
+like the following.
+
 .. code-block:: console
 
   uart:~$ mpu read
@@ -86,3 +89,50 @@ Sample Output
   <err> os: >>> ZEPHYR FATAL ERROR 0: CPU exception on CPU 0
   <err> os: Current thread: 0x20000708 (shell_uart)
   <err> os: Halting system
+
+
+When running this test on an ARMv6 CPU (specifically on a Cortex-M0+), the output will
+look different, as ARMv6 handles MPU faults as generic hard faults. Moreover, when
+running the ``mpu run`` command, Zephyr's hard fault handler for AArch32 tries to
+dereference the program counter from the exception stack frame, causing a second fault
+and silently placing the processor into a lockup state.
+
+To verify that the ``mpu run`` test in particular is running correctly, one can
+
+* start the MPU test under gdb with ``west debug``
+* execute ``mpu run`` over UART
+* then interrupt gdb with Ctrl-C and show the program counter by running ``l`` in gdb.
+
+The program counter should display as ``0xfffffffe``, indicating a lockup state.
+
+
+.. code-block:: console
+
+  uart:~$ mpu read
+  <err> os: ***** HARD FAULT *****
+  <err> os: r0/a1:  0x0800a54c  r1/a2:  0x00000008  r2/a3:  0x08003
+  <err> os: r3/a4:  0x24000000 r12/ip:  0x00000040 r14/lr:  0x0800d
+  <err> os:  xpsr:  0x01000000
+  <err> os: Faulting instruction address (r15/pc): 0x08000486
+  <err> os: >>> ZEPHYR FATAL ERROR 0: CPU exception on CPU 0
+  <err> os: Current thread: 0x200006a8 (shell_uart)
+  <err> os: Halting system
+
+
+.. code-block:: console
+
+  uart:~$ mpu write
+  <err> os: ***** HARD FAULT *****
+  <err> os: r0/a1:  0x00000000  r1/a2:  0x0000000e  r2/a3:  0x0000e
+  <err> os: r3/a4:  0x0badc0de r12/ip:  0x00000000 r14/lr:  0x08009
+  <err> os:  xpsr:  0x61000000
+  <err> os: Faulting instruction address (r15/pc): 0x0800046a
+  <err> os: >>> ZEPHYR FATAL ERROR 0: CPU exception on CPU 0
+  <err> os: Current thread: 0x200006a8 (shell_uart)
+  <err> os: Halting system
+
+
+.. code-block:: console
+
+  uart~$ mpu run
+  <no output>