diff --git a/app/CMakeLists.txt b/app/CMakeLists.txt
index cdf60d5..22c0d1c 100755
--- a/app/CMakeLists.txt
+++ b/app/CMakeLists.txt
@@ -266,6 +266,7 @@
         .
         $<$<BOOL:${CONFIG_TFM_ERPC_TEST_FRAMEWORK}>:${ERPC_DIR}/server>
         $<$<BOOL:${CONFIG_TFM_ERPC_TEST_FRAMEWORK}>:${ERPC_REPO_PATH}/erpc_c/transports>
+        $<$<BOOL:${CONFIG_TFM_ERPC_TEST_FRAMEWORK}>:${ERPC_DIR}/platform/${TFM_PLATFORM}>
 )
 
 target_link_libraries(tfm_test_app
diff --git a/docs/tfm_erpc_test_framework.rst b/docs/tfm_erpc_test_framework.rst
index 5fa33ee..146e12e 100644
--- a/docs/tfm_erpc_test_framework.rst
+++ b/docs/tfm_erpc_test_framework.rst
@@ -140,13 +140,18 @@
 When the eRPC test framework is enabled, the ``CONFIG_ENABLE_NS_UART_TX_RX_CONTROL`` will be enabled
 automatically.
 
-Secondly, platforms need to specify the UART port and driver for eRPC transportation config via
-``target_cfg.h``.
+Secondly, platforms need to create their folders under the ``erpc/platform`` and then create the
+``config_erpc_target.h`` to specify the UART port drivers for eRPC transportation.
 
 .. code-block::
 
   #define ERPC_UART           Driver_USART0
 
+.. note::
+
+  The folder structure in ``erpc/platform`` must be the same as the ``platform/ext/target`` of TF-M
+  repo.
+
 It's recommended to use a different UART to the stdio UART.
 If the same UART is used for both, then the TF-M logs (both SPM and Secure Partitions) must be
 disabled.
diff --git a/erpc/platform/arm/mps2/an521/config_erpc_target.h b/erpc/platform/arm/mps2/an521/config_erpc_target.h
new file mode 100644
index 0000000..6a77103
--- /dev/null
+++ b/erpc/platform/arm/mps2/an521/config_erpc_target.h
@@ -0,0 +1,15 @@
+/*
+ * Copyright (c) 2023, Arm Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ *
+ */
+
+/* Target side config file for running the eRPC test framework */
+
+#ifndef __CONFIG_ERPC_TARGET_H__
+#define __CONFIG_ERPC_TARGET_H__
+
+#define ERPC_UART           Driver_USART1
+
+#endif /* __CONFIG_ERPC_TARGET_H__ */
diff --git a/erpc/platform/arm/musca_s1/config_erpc_target.h b/erpc/platform/arm/musca_s1/config_erpc_target.h
new file mode 100644
index 0000000..6a77103
--- /dev/null
+++ b/erpc/platform/arm/musca_s1/config_erpc_target.h
@@ -0,0 +1,15 @@
+/*
+ * Copyright (c) 2023, Arm Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ *
+ */
+
+/* Target side config file for running the eRPC test framework */
+
+#ifndef __CONFIG_ERPC_TARGET_H__
+#define __CONFIG_ERPC_TARGET_H__
+
+#define ERPC_UART           Driver_USART1
+
+#endif /* __CONFIG_ERPC_TARGET_H__ */