diff --git a/CMakeLists.txt b/CMakeLists.txt
index d629418..68730c0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,12 +20,6 @@
     set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Build type: [Debug, Release, RelWithDebInfo, MinSizeRel]" FORCE)
 endif()
 
-message(FATAL_ERROR "This commit is inside the patch chain for convertion of the
-old cmake buildsystem to the modern one. TFM will not build unless all of these
-patches have been applied, these commits are split only for ease of
-understanding. If you wish to build TFM, please checkout the commit
-\"Build: Convert docs directory to modern cmake\"")
-
 ############################ CONFIGURATION #####################################
 
 # First load defaults.
@@ -61,6 +55,7 @@
 
 add_subdirectory(lib/ext)
 add_subdirectory(tools)
+add_subdirectory(docs)
 if(NS)
     # Set to ${TFM_TEST_REPO_PATH}/app by default
     add_subdirectory(${TFM_APP_PATH} ${CMAKE_CURRENT_BINARY_DIR}/app)
diff --git a/cmake/Common/BuildDoxygenDoc.cmake b/cmake/Common/BuildDoxygenDoc.cmake
deleted file mode 100644
index d1b7cb0..0000000
--- a/cmake/Common/BuildDoxygenDoc.cmake
+++ /dev/null
@@ -1,167 +0,0 @@
-#-------------------------------------------------------------------------------
-# Copyright (c) 2018-2020, Arm Limited. All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-#
-#-------------------------------------------------------------------------------
-
-#This file adds build and install targets to build the Doxygen documentation
-#for TF-M. This currently means the "Reference Manual". Further documentation
-#builds may be added in the future.
-
-Include(CMakeParseArguments)
-
-#This function will find the location of tools needed to build the
-#documentation. These are:
-#    - Mandatory:
-#        - Doxygen v1.8.0 or higher
-#        - dot
-#        - PlantUML and it's dependencies
-#   - Optional
-#        - LateX/PDFLateX
-#
-#Inputs:
-#    none (some global variables might be used by FindXXX modules used. For
-#         details please check the used modules.)
-#
-#Outputs:
-#   NODOC                  - will be defined and set to true is any mandatory
-#                            tool is missing.
-#   LATEX_PDFLATEX_FOUND   - defined if PDFLateX is available.
-#   DOXYGEN_EXECUTABLE     - path to doxygen
-#   DOXYGEN_DOT_EXECUTABLE - path to dot
-#   PLANTUML_JAR_PATH      - path to PlantUML
-
-#Examples
-#   DoxyFindTools()
-#
-function(DoxyFindTools)
-	#Find doxygen and dot.
-	find_package(Doxygen 1.8.0)
-	#find_package(Doxygen) will not print an error if dot is not available,
-	#emit a message here to help users.
-	if (NOT DOXYGEN_DOT_FOUND)
-		message(STATUS "Could NOT find Graphviz (missing:  DOXYGEN_DOT_EXECUTABLE).")
-	endif()
-
-	#Find plantUML
-	find_package(PlantUML)
-
-	#Find tools needed for PDF generation.
-	find_package(LATEX COMPONENTS PDFLATEX)
-	set (LATEX_PDFLATEX_FOUND ${LATEX_PDFLATEX_FOUND} PARENT_SCOPE)
-
-	if (DOXYGEN_FOUND AND DOXYGEN_DOT_FOUND AND PLANTUML_FOUND)
-		#Export executable locations to global scope.
-		set(DOXYGEN_EXECUTABLE "${DOXYGEN_EXECUTABLE}" PARENT_SCOPE)
-		set(DOXYGEN_DOT_EXECUTABLE "${DOXYGEN_DOT_EXECUTABLE}" PARENT_SCOPE)
-		set(PLANTUML_JAR_PATH "${PLANTUML_JAR_PATH}" PARENT_SCOPE)
-		set(NODOC False PARENT_SCOPE)
-	else()
-		message(WARNING "Some tools are missing for document generation. Document generation target is not created.")
-		set(NODOC True PARENT_SCOPE)
-	endif()
-endfunction()
-
-#Find the needed tools.
-DoxyFindTools()
-
-#If mandatory tools are missing, skip creating document generation targets.
-#This means missing documentation tools is not a crytical error, and building
-#TF-M is still possible.
-if (NOT NODOC)
-	#The doxygen configuration file needs some project specific configuration.
-	#Variables with DOXYCFG_ prefix are settings related to that.
-	set(DOXYCFG_TEMPLATE_FILE ${TFM_ROOT_DIR}/doxygen/Doxyfile.in)
-	set(DOXYCFG_CONFIGURED_FILE ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
-
-	#This is where doxygen output will be written
-	set(DOXYCFG_OUTPUT_PATH "${CMAKE_CURRENT_BINARY_DIR}/doc")
-
-	#Eclipse help ID. The help files shall be installed under the plugin
-	#directory into a directory with a name matching this ID.
-	set(DOXYCFG_ECLIPSE_DOCID "org.arm.tf-m-refman")
-
-	#Version ID of TF-M.
-	#TODO: this shall not be hard-coded here. A process need to defined for
-	#      versioning the document (and TF-M).
-	set(DOXYCFG_TFM_VERSION "v1.1")
-
-	#Using add_custom_command allows CMake to generate proper clean commands
-	#for document generation.
-	add_custom_command(OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/doc"
-			COMMAND "${DOXYGEN_EXECUTABLE}" "${DOXYCFG_CONFIGURED_FILE}"
-			WORKING_DIRECTORY "${TFM_ROOT_DIR}"
-			COMMENT "Running doxygen.")
-
-	#Create build target to generate HTML documentation.
-	add_custom_target(doc_refman
-		WORKING_DIRECTORY ${TFM_ROOT_DIR}
-		COMMENT "Generating TF-M Reference Manual..."
-		DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/doc"
-		VERBATIM)
-
-	#Add the HTML documentation to install content
-	install(DIRECTORY ${DOXYCFG_OUTPUT_PATH}/html DESTINATION doc/reference_manual
-		COMPONENT refman EXCLUDE_FROM_ALL)
-
-	#Add the HTML documentation to install content. This time to be copied to
-	#eclipse plugin directory.
-	#TODO: I could not find a working description how the doxygen output
-	#can be installed to eclipse. Re-enable eclipse help generation after
-	#this is investigated. (See Doxyfile.in::GENERATE_ECLIPSEHELP)
-
-	#install(DIRECTORY "${DOXYCFG_OUTPUT_PATH}/html/"
-	#   DESTINATION "doc/reference_manual/${DOXYCFG_ECLIPSE_DOCID}"
-	#   COMPONENT refman
-	#   EXCLUDE_FROM_ALL)
-
-	#If PDF documentation is being made.
-	if (LATEX_PDFLATEX_FOUND)
-		if (NOT CMAKE_GENERATOR MATCHES "Makefiles")
-			message(WARNING "Generator is not make based. PDF document generation target is not created.")
-		else()
-			#This file shall not be included before cmake did finish finding the make tool and thus
-			#setting CMAKE_MAKE_PROGRAM. Currently the search is triggered by the project() command.
-			if(NOT CMAKE_MAKE_PROGRAM)
-				message(FATAL_ERROR "CMAKE_MAKE_PROGRAM is not set. This file must be included after the project command is run.")
-			endif()
-
-			#The add_custom_command is not used here to get proper clean
-			#command since the clean rules "added" above will remove the entire
-			#doc directory, and thus clean the PDF output too.
-			add_custom_target(doc_refman_pdf
-				COMMAND "${CMAKE_MAKE_PROGRAM}" pdf
-				WORKING_DIRECTORY ${DOXYCFG_OUTPUT_PATH}/latex
-				COMMENT "Generating PDF version of TF-M reference manual..."
-				DEPENDS doc_refman
-				VERBATIM)
-
-			#Add the pdf documentation to install content
-			install(FILES "${DOXYCFG_OUTPUT_PATH}/latex/refman.pdf" DESTINATION "doc/reference_manual"
-				RENAME "tf-m_reference_manual.pdf"
-				COMPONENT refman EXCLUDE_FROM_ALL)
-
-			set(DOXYCFG_TFM_GENERATE_PDF $(DOXYCFG_TFM_VERSION))
-		endif()
-	else()
-		message(WARNING "PDF generation tools are missing. PDF document generation target is not created.")
-	endif()
-
-	#Generate build target which installs the documentation.
-	if (TARGET doc_refman_pdf)
-		add_custom_target(install_doc
-			DEPENDS doc_refman doc_refman_pdf
-			COMMAND "${CMAKE_COMMAND}" -DCMAKE_INSTALL_COMPONENT=refman
-			-P "${CMAKE_BINARY_DIR}/cmake_install.cmake")
-	else()
-		add_custom_target(install_doc
-			DEPENDS doc_refman
-			COMMAND "${CMAKE_COMMAND}" -DCMAKE_INSTALL_COMPONENT=refman
-			-P "${CMAKE_BINARY_DIR}/cmake_install.cmake")
-	endif()
-
-	#Now instantiate a doxygen configuration file from the template.
-	message(STATUS "Writing doxygen configuration...")
-	configure_file(${DOXYCFG_TEMPLATE_FILE} ${DOXYCFG_CONFIGURED_FILE} @ONLY)
-endif()
diff --git a/cmake/Common/BuildSphinxDoc.cmake b/cmake/Common/BuildSphinxDoc.cmake
deleted file mode 100644
index e95a927..0000000
--- a/cmake/Common/BuildSphinxDoc.cmake
+++ /dev/null
@@ -1,211 +0,0 @@
-#-------------------------------------------------------------------------------
-# Copyright (c) 2019-2020, Arm Limited. All rights reserved.
-#
-# SPDX-License-Identifier: BSD-3-Clause
-#
-#-------------------------------------------------------------------------------
-
-#This file adds build and install targets to build the Sphinx documentation
-#for TF-M. This currently means the "User Guide". Further documentation
-#builds may be added in the future.
-
-Include(CMakeParseArguments)
-
-#This function will find the location of tools needed to build the
-#documentation. These are:
-#   - Mandatory:
-#        - Sphinx 1.9.0 or higher
-#        - PlantUML and it's dependencies
-#   - Optional
-#        - LateX/PDFLateX
-#
-#Inputs:
-#   none (some global variables might be used by FindXXX modules used. For
-#         details please check the modules used.)
-#Outputs:
-#   SPHINX_NODOC - will be defined and set to true is any mandatory tool is
-#                  missing.
-#   LATEX_PDFLATEX_FOUND - true if pdflatex executable found
-#   SPHINX_EXECUTABLE    - path to sphinx-build
-#   PLANTUML_JAR_PATH    - path to PlantUML
-
-#Examples
-#   SphinxFindTools()
-#
-function(SphinxFindTools)
-	#Find Sphinx
-	find_package(Sphinx)
-
-	#Find additional needed Sphinx dependencies.
-	find_package(PythonModules COMPONENTS m2r sphinx-rtd-theme sphinxcontrib.plantuml)
-
-	#Find plantUML
-	find_package(PlantUML)
-
-	#Find tools needed for PDF generation.
-	find_package(LATEX COMPONENTS PDFLATEX)
-	set (LATEX_PDFLATEX_FOUND "${LATEX_PDFLATEX_FOUND}" PARENT_SCOPE)
-
-	if (SPHINX_FOUND AND PLANTUML_FOUND AND PY_M2R_FOUND
-			AND PY_SPHINX-RTD-THEME_FOUND AND PY_SPHINXCONTRIB.PLANTUML)
-		#Export executable locations to global scope.
-		set(SPHINX_EXECUTABLE "${SPHINX_EXECUTABLE}" PARENT_SCOPE)
-		set(PLANTUML_JAR_PATH "${PLANTUML_JAR_PATH}" PARENT_SCOPE)
-		set(Java_JAVA_EXECUTABLE "${Java_JAVA_EXECUTABLE}" PARENT_SCOPE)
-		set(SPHINX_NODOC False PARENT_SCOPE)
-	else()
-		message(WARNING "Some tools are missing for Sphinx document generation. Document generation target is not created.")
-		set(SPHINX_NODOC True PARENT_SCOPE)
-	endif()
-endfunction()
-
-#Find the needed tools.
-SphinxFindTools()
-
-#If mandatory tools are missing, skip creating document generation targets.
-#This means missing documentation tools is not a critical error, and building
-#TF-M is still possible.
-if (NOT SPHINX_NODOC)
-	#The Sphinx configuration file needs some project specific configuration.
-	#Variables with SPHINXCFG_ prefix are setting values related to that.
-	#This is where Sphinx output will be written
-	set(SPHINXCFG_OUTPUT_PATH "${CMAKE_CURRENT_BINARY_DIR}/doc_sphinx")
-
-	set(SPHINX_TMP_DOC_DIR "${CMAKE_CURRENT_BINARY_DIR}/doc_sphinx_in")
-	set(SPHINXCFG_CONFIGURED_FILE "${TFM_ROOT_DIR}/build_docs/conf.py")
-	set(SPHINXCFG_TEMPLATE_FILE "${TFM_ROOT_DIR}/docs/conf.py.in")
-	set(SPHINXCFG_ENVIRONMENT_FILE "${TFM_ROOT_DIR}/docs/tfm_env.py.in")
-	set(_PDF_FILE "${SPHINXCFG_OUTPUT_PATH}/latex/TF-M.pdf")
-
-	# Set the build-tool to copy over the files to ${SPHINX_TMP_DOC_DIR~
-	set(SPHINXCFG_COPY_FILES True)
-	# Set the config to render the conf.py. If needed to build it by cmake
-	# set it to False
-	set(SPHINXCFG_RENDER_CONF True)
-
-	# TODO Reference example on how a doxygen build can be requested.
-	# Currently the logic of BuildDoxygenDoc.cmake is still used for
-	# compatibility purposes.
-	set(DOXYCFG_DOXYGEN_BUILD False)
-	if (SPHINXCFG_RENDER_CONF)
-		find_package(Doxygen 1.8.0)
-		set(DOXYCFG_DOXYGEN_CFG_DIR ${TFM_ROOT_DIR}/doxygen)
-		set(DOXYCFG_OUTPUT_PATH ${SPHINXCFG_OUTPUT_PATH}/user_manual)
-		set(DOXYCFG_ECLIPSE_DOCID "org.arm.tf-m-refman")
-		file(MAKE_DIRECTORY ${SPHINXCFG_OUTPUT_PATH}/user_manual)
-	endif()
-
-	#Version ID of TF-M.
-	#TODO: this shall not be hard-coded here. We need a process to define the
-	#      version number of the document (and TF-M).
-	set(SPHINXCFG_TFM_VERSION "v1.1")
-	set(SPHINXCFG_TFM_VERSION_FULL "Version 1.1")
-
-	#This command does not generates the specified output file and thus it will
-	#always be run. Any other command or target depending on the "run-allways"
-	#output will be always executed too.
-	add_custom_command(OUTPUT run-allways
-		COMMAND "${CMAKE_COMMAND}" -E echo)
-
-	file(REMOVE_RECURSE ${SPHINX_TMP_DOC_DIR})
-	file(MAKE_DIRECTORY ${SPHINX_TMP_DOC_DIR})
-
-	#Call configure file to fill out the message template.
-	configure_file("${SPHINXCFG_ENVIRONMENT_FILE}" "${SPHINX_TMP_DOC_DIR}/tfm_env.py" @ONLY)
-
-	file(COPY "${SPHINXCFG_CONFIGURED_FILE}" DESTINATION ${SPHINX_TMP_DOC_DIR})
-
-	add_custom_target(create_sphinx_input
-		SOURCES "${SPHINX_TMP_DOC_DIR}"
-	)
-
-	add_custom_command(OUTPUT "${SPHINXCFG_OUTPUT_PATH}/html"
-		COMMAND "${SPHINX_EXECUTABLE}" -b html "${SPHINX_TMP_DOC_DIR}" "${SPHINXCFG_OUTPUT_PATH}/html"
-		WORKING_DIRECTORY "${TFM_ROOT_DIR}"
-		DEPENDS create_sphinx_input run-allways
-		COMMENT "Running Sphinx to generate user guide (HTML)."
-		VERBATIM
-		)
-
-	#Create build target to generate HTML documentation.
-	add_custom_target(doc_userguide
-		COMMENT "Generating User Guide with Sphinx..."
-		#Copy document files from the top level dir to docs
-		SOURCES "${SPHINXCFG_OUTPUT_PATH}/html"
-		)
-
-	#Add the HTML documentation to install content
-	install(DIRECTORY ${SPHINXCFG_OUTPUT_PATH}/html DESTINATION doc/user_guide
-		EXCLUDE_FROM_ALL
-		COMPONENT user_guide
-		PATTERN .buildinfo EXCLUDE
-		)
-
-	if (DOXYCFG_DOXYGEN_BUILD)
-		#Add the HTML documentation to install content
-		install(DIRECTORY ${SPHINXCFG_OUTPUT_PATH}/user_manual DESTINATION doc
-		EXCLUDE_FROM_ALL
-		COMPONENT user_guide
-		PATTERN .buildinfo EXCLUDE
-		)
-	endif()
-
-	#If PDF documentation is being made.
-	if (LATEX_PDFLATEX_FOUND)
-		if (NOT CMAKE_GENERATOR MATCHES "Makefiles")
-			message(WARNING "Generator is not make based. PDF document generation target is not created.")
-		else()
-			#This file shall not be included before cmake did finish finding the make tool and thus
-			#setting CMAKE_MAKE_PROGRAM. Currently the search is triggered by the project() command.
-			if(NOT CMAKE_MAKE_PROGRAM)
-				message(FATAL_ERROR "CMAKE_MAKE_PROGRAM is not set. This file must be included after the project command is run.")
-			endif()
-
-			add_custom_command(OUTPUT "${SPHINXCFG_OUTPUT_PATH}/latex"
-				COMMAND "${SPHINX_EXECUTABLE}" -b latex "${SPHINX_TMP_DOC_DIR}" "${SPHINXCFG_OUTPUT_PATH}/latex"
-				WORKING_DIRECTORY "${TFM_ROOT_DIR}"
-				DEPENDS create_sphinx_input
-				COMMENT "Running Sphinx to generate user guide (LaTeX)."
-				VERBATIM
-				)
-
-			add_custom_command(OUTPUT "${_PDF_FILE}"
-				COMMAND "${CMAKE_MAKE_PROGRAM}" all-pdf
-				WORKING_DIRECTORY ${SPHINXCFG_OUTPUT_PATH}/latex
-				DEPENDS "${SPHINXCFG_OUTPUT_PATH}/latex"
-				COMMENT "Generating PDF version of User Guide..."
-				VERBATIM
-				)
-
-			#We do not use the add_custom_command trick here to get proper clean
-			#command since the clean rules "added" above will remove the entire
-			#doc directory, and thus clean the PDF output too.
-			add_custom_target(doc_userguide_pdf
-				COMMENT "Generating PDF version of TF-M User Guide..."
-				SOURCES "${_PDF_FILE}"
-				VERBATIM)
-
-			#Add the pdf documentation to install content
-			install(FILES "${_PDF_FILE}" DESTINATION "doc/user_guide"
-				RENAME "tf-m_user_guide.pdf"
-				COMPONENT user_guide
-				EXCLUDE_FROM_ALL)
-		endif()
-	else()
-		message(WARNING "PDF generation tools are missing. PDF document generation target is not created.")
-	endif()
-
-	#Generate build target which installs the documentation.
-	if (TARGET doc_userguide_pdf)
-		add_custom_target(install_userguide
-			DEPENDS doc_userguide doc_userguide_pdf
-			COMMAND "${CMAKE_COMMAND}" -DCMAKE_INSTALL_COMPONENT=user_guide
-			-P "${CMAKE_BINARY_DIR}/cmake_install.cmake")
-	else()
-		add_custom_target(install_userguide
-			DEPENDS doc_userguide
-			COMMAND "${CMAKE_COMMAND}" -DCMAKE_INSTALL_COMPONENT=user_guide
-			-P "${CMAKE_BINARY_DIR}/cmake_install.cmake")
-	endif()
-
-endif()
diff --git a/docs/CMakeLists.txt b/docs/CMakeLists.txt
new file mode 100644
index 0000000..f227c6e
--- /dev/null
+++ b/docs/CMakeLists.txt
@@ -0,0 +1,118 @@
+#-------------------------------------------------------------------------------
+# Copyright (c) 2020, Arm Limited. All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+#
+#-------------------------------------------------------------------------------
+
+cmake_minimum_required(VERSION 3.13)
+
+add_custom_target(docs)
+
+find_package(Python3)
+find_package(Sphinx)
+find_package(PythonModules COMPONENTS m2r sphinx-rtd-theme sphinxcontrib.plantuml)
+find_package(PlantUML)
+find_package(Doxygen 1.8.0)
+find_package(LATEX COMPONENTS PDFLATEX)
+
+################################## ENV #########################################
+
+set(SPHINXCFG_OUTPUT_PATH ${CMAKE_CURRENT_BINARY_DIR}/user_guide)
+set(SPHINX_TMP_DOC_DIR ${CMAKE_CURRENT_BINARY_DIR}/temp)
+set(SPHINXCFG_TEMPLATE_FILE "${CMAKE_CURRENT_SOURCE_DIR}/conf.py.in")
+set(DOXYCFG_OUTPUT_PATH ${CMAKE_CURRENT_BINARY_DIR}/reference_manual)
+set(DOXYCFG_DOXYGEN_CFG_DIR ${CMAKE_SOURCE_DIR}/doxygen)
+
+# Enable to request the interface to build the doxygen documentation as well
+set(DOXYCFG_DOXYGEN_BUILD False)
+
+################################## SPHINX ######################################
+set(SPHINXCFG_COPY_FILES True)
+set(SPHINXCFG_RENDER_CONF True)
+
+add_custom_target(tfm_docs_sphinx_cfg
+    DEPENDS ${SPHINX_TMP_DOC_DIR}/conf.py
+)
+add_custom_command(OUTPUT ${SPHINX_TMP_DOC_DIR}/conf.py
+    COMMAND ${CMAKE_COMMAND} -E make_directory ${SPHINX_TMP_DOC_DIR}
+    COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_SOURCE_DIR}/build_docs/conf.py ${SPHINX_TMP_DOC_DIR}/conf.py
+    MAIN_DEPENDENCY ${CMAKE_SOURCE_DIR}/build_docs/conf.py
+    BYPRODUCTS ${SPHINX_TMP_DOC_DIR}
+)
+
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/tfm_env.py.in ${SPHINX_TMP_DOC_DIR}/tfm_env.py @ONLY)
+
+if (SPHINX_FOUND AND PLANTUML_FOUND AND PY_M2R_FOUND AND PY_SPHINX-RTD-THEME_FOUND AND PY_SPHINXCONTRIB.PLANTUML)
+
+    file(GLOB_RECURSE SPHINXCFG_DOC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.rst)
+
+    add_custom_command(OUTPUT "${SPHINXCFG_OUTPUT_PATH}/html/index.html"
+        OUTPUT "${SPHINXCFG_OUTPUT_PATH}/html/"
+        COMMAND "${SPHINX_EXECUTABLE}" -b html "${SPHINX_TMP_DOC_DIR}" "${SPHINXCFG_OUTPUT_PATH}/html"
+        WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
+        DEPENDS tfm_docs_sphinx_cfg
+        DEPENDS ${SPHINXCFG_DOC_FILES}
+    )
+    add_custom_target(tfm_docs_userguide_html
+        DEPENDS "${SPHINXCFG_OUTPUT_PATH}/html/index.html"
+        DEPENDS "${SPHINXCFG_OUTPUT_PATH}/html/"
+    )
+    add_dependencies(docs tfm_docs_userguide_html)
+
+    if (LATEX_PDFLATEX_FOUND)
+        add_custom_command(OUTPUT "${SPHINXCFG_OUTPUT_PATH}/latex/TF-M.tex"
+            OUTPUT "${SPHINXCFG_OUTPUT_PATH}/latex/"
+            COMMAND "${SPHINX_EXECUTABLE}" -b latex "${SPHINX_TMP_DOC_DIR}" "${SPHINXCFG_OUTPUT_PATH}/latex"
+            WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
+            DEPENDS tfm_docs_sphinx_cfg
+            DEPENDS ${SPHINXCFG_DOC_FILES}
+        )
+        add_custom_command(OUTPUT "${SPHINXCFG_OUTPUT_PATH}/latex/TF-M.pdf"
+            COMMAND ${PDFLATEX_COMPILER} TF-M.tex
+            COMMAND ${CMAKE_COMMAND} -E copy TF-M.tex ${SPHINXCFG_OUTPUT_PATH}/tf-m_user_guide.pdf
+            WORKING_DIRECTORY ${SPHINXCFG_OUTPUT_PATH}/latex/
+            DEPENDS "${SPHINXCFG_OUTPUT_PATH}/latex/TF-M.tex"
+        )
+        add_custom_target(tfm_docs_userguide_pdf
+            DEPENDS "${SPHINXCFG_OUTPUT_PATH}/latex/TF-M.pdf"
+        )
+        add_dependencies(docs tfm_docs_userguide_pdf)
+    endif()
+endif()
+
+################################## DOXYGEN #####################################
+
+configure_file(${CMAKE_SOURCE_DIR}/doxygen/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY)
+
+if (DOXYGEN_FOUND AND DOXYGEN_DOT_FOUND AND PLANTUML_FOUND)
+
+    file(GLOB_RECURSE DOXYCFG_DOC_FILES ${CMAKE_SOURCE_DIR}/*.c ${CMAKE_SOURCE_DIR}/*.h)
+
+    add_custom_command(OUTPUT ${DOXYCFG_OUTPUT_PATH}/html
+        OUTPUT ${DOXYCFG_OUTPUT_PATH}/latex
+        OUTPUT ${DOXYCFG_OUTPUT_PATH}/latex/refman.pdf
+        COMMAND ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+        DEPENDS ${DOXYCFG_DOC_FILES}
+    )
+    add_custom_target(tfm_docs_refman_html
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+        DEPENDS ${DOXYCFG_OUTPUT_PATH}/html
+    )
+    add_dependencies(docs tfm_docs_refman_html)
+
+    if (LATEX_PDFLATEX_FOUND)
+        add_custom_command(OUTPUT "${DOXYCFG_OUTPUT_PATH}/latex/refman.pdf"
+            COMMAND "${PDFLATEX_COMPILER} refman.tex"
+            COMMAND ${CMAKE_COMMAND} -E copy refman.tex ${DOXYCFG_OUTPUT_PATH}/tf-m_reference_manual.pdf
+            WORKING_DIRECTORY ${DOXYCFG_OUTPUT_PATH}/latex/
+            DEPENDS "${DOXYCFG_OUTPUT_PATH}/latex/refman.tex"
+        )
+        add_custom_target(tfm_docs_refman_pdf
+            DEPENDS ${DOXYCFG_OUTPUT_PATH}/latex/refman.pdf
+            DEPENDS tfm_docs_refman_html
+        )
+        add_dependencies(docs tfm_docs_refman_pdf)
+    endif()
+endif()
diff --git a/docs/getting_started/tfm_build_instruction.rst b/docs/getting_started/tfm_build_instruction.rst
index a8e890b..2fb81c4 100644
--- a/docs/getting_started/tfm_build_instruction.rst
+++ b/docs/getting_started/tfm_build_instruction.rst
@@ -188,8 +188,8 @@
 Using the CMake build-system
 ----------------------------
 
-Building PDF output is optional and can be disabled by removing LaTex from the
-PATH.
+Building PDF output can be requested by invoking `tfm_docs_userguide_pdf/
+tfm_docs_userguide_pdf`
 
 .. Note::
    For building the documentation all tools needed to build the firmware must
@@ -202,12 +202,13 @@
     cd <TF-M base folder>
     mkdir cmake_doc
     cd cmake_doc
-    cmake ../ -G"Unix Makefiles" -DTARGET_PLATFORM=AN521 -DCOMPILER=GNUARM
-    cmake --build ./ -- install_doc
+    cmake -S .. -B . -G "Unix Makefiles" -DTFM_PLATFORM=mps2/an521 -DCMAKE_TOOLCHAIN_FILE=../toolchain_GNUARM.cmake
+    make tfm_docs_refman_html
+    make tfm_docs_refman_pdf
 
 The documentation files will be available under the directory::
 
-    cmake_doc/install/doc/reference_manual
+    cmake_doc/docs/reference_manual
 
 Building the User Guide
 ^^^^^^^^^^^^^^^^^^^^^^^
@@ -216,12 +217,13 @@
     cd <TF-M base folder>
     mkdir cmake_doc
     cd cmake_doc
-    cmake ../ -G"Unix Makefiles" -DTARGET_PLATFORM=AN521 -DCOMPILER=ARMCLANG
-    cmake --build ./ -- install_userguide
+    cmake -S .. -B . -G "Unix Makefiles" -DTFM_PLATFORM=mps2/an521 -DCMAKE_TOOLCHAIN_FILE=../toolchain_GNUARM.cmake
+    make tfm_docs_userguide_html
+    make tfm_docs_userguide_pdf
 
 The documentation files will be available under the directory::
 
-    cmake_doc/install/doc/user_guide
+    cmake_doc/docs/user_guide
 
 Manually using documentation generation tools
 ---------------------------------------------
diff --git a/docs/tfm_env.py.in b/docs/tfm_env.py.in
index b96be48..cc2f8bf 100644
--- a/docs/tfm_env.py.in
+++ b/docs/tfm_env.py.in
@@ -8,21 +8,18 @@
 # Interface file between cmake and sphynx-build. Variables will be populated
 # by cmake and evaluated by the Python builder
 
-cmake_env = { "SPHINX_TMP_DOC_DIR": "@SPHINX_TMP_DOC_DIR@",
-              "TFM_ROOT_DIR" : "@TFM_ROOT_DIR@",
-              "PLANTUML_JAR_PATH" : "@PLANTUML_JAR_PATH@",
-              "Java_JAVA_EXECUTABLE" : "@Java_JAVA_EXECUTABLE@",
-              "SPHINX_TMP_DOC_DIR" : "@SPHINX_TMP_DOC_DIR@",
-              "DOXYGEN_EXECUTABLE" : "@DOXYGEN_EXECUTABLE@",
-              "DOXYGEN_DOT_EXECUTABLE" : "@DOXYGEN_DOT_EXECUTABLE@",
-              "DOXYCFG_DOXYGEN_CFG_DIR": "@DOXYCFG_DOXYGEN_CFG_DIR@",
-              "DOXYCFG_OUTPUT_PATH": "@DOXYCFG_OUTPUT_PATH@",
-              "DOXYCFG_DOXYGEN_BUILD": "@DOXYCFG_DOXYGEN_BUILD@",
-              "DOXYCFG_ECLIPSE_DOCID": "@DOXYCFG_ECLIPSE_DOCID@",
-              "SPHINXCFG_TEMPLATE_FILE": "@SPHINXCFG_TEMPLATE_FILE@",
-              "PDF_OUTPUT_FILE": "@_PDF_FILE@",
-              "SPHINXCFG_COPY_FILES": "@SPHINXCFG_COPY_FILES@",
-              "SPHINXCFG_RENDER_CONF": "@SPHINXCFG_RENDER_CONF@",
-              "SPHINXCFG_TFM_VERSION" : "@SPHINXCFG_TFM_VERSION@",
-              "SPHINXCFG_TFM_VERSION_FULL" : "@SPHINXCFG_TFM_VERSION_FULL@"
+cmake_env = { "SPHINX_TMP_DOC_DIR"         : "@SPHINX_TMP_DOC_DIR@",
+              "TFM_ROOT_DIR"               : "@CMAKE_SOURCE_DIR@",
+              "PLANTUML_JAR_PATH"          : "@PLANTUML_JAR_PATH@",
+              "Java_JAVA_EXECUTABLE"       : "@Java_JAVA_EXECUTABLE@",
+              "DOXYGEN_EXECUTABLE"         : "@DOXYGEN_EXECUTABLE@",
+              "DOXYGEN_DOT_EXECUTABLE"     : "@DOXYGEN_DOT_EXECUTABLE@",
+              "DOXYCFG_DOXYGEN_CFG_DIR"    : "@DOXYCFG_DOXYGEN_CFG_DIR@",
+              "DOXYCFG_OUTPUT_PATH"        : "@DOXYCFG_OUTPUT_PATH@",
+              "DOXYCFG_DOXYGEN_BUILD"      : "@DOXYCFG_DOXYGEN_BUILD@",
+              "SPHINXCFG_TEMPLATE_FILE"    : "@SPHINXCFG_TEMPLATE_FILE@",
+              "SPHINXCFG_COPY_FILES"       : "@SPHINXCFG_COPY_FILES@",
+              "SPHINXCFG_RENDER_CONF"      : "@SPHINXCFG_RENDER_CONF@",
+              "SPHINXCFG_TFM_VERSION"      : "v@CMAKE_PROJECT_VERSION@",
+              "SPHINXCFG_TFM_VERSION_FULL" : "Version @CMAKE_PROJECT_VERSION@"
             }
diff --git a/doxygen/Doxyfile.in b/doxygen/Doxyfile.in
index ccfa60c..60b1ea4 100644
--- a/doxygen/Doxyfile.in
+++ b/doxygen/Doxyfile.in
@@ -45,7 +45,7 @@
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = @DOXYCFG_TFM_VERSION@
+PROJECT_NUMBER         = @CMAKE_PROJECT_VERSION@
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
@@ -58,7 +58,7 @@
 # pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
 # the logo to the output directory.
 
-PROJECT_LOGO           = @TFM_ROOT_DIR@/doxygen/TrustedFirmware-Logo_icon.png
+PROJECT_LOGO           = @CMAKE_SOURCE_DIR@/doxygen/TrustedFirmware-Logo_icon.png
 
 # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
 # into which the generated documentation will be written. If a relative path is
@@ -169,7 +169,7 @@
 # will be relative from the directory where doxygen is started.
 # This tag requires that the tag FULL_PATH_NAMES is set to YES.
 
-STRIP_FROM_PATH        = "@TFM_ROOT_DIR@"
+STRIP_FROM_PATH        = "@CMAKE_SOURCE_DIR@"
 
 # The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the
 # path mentioned in the documentation of a class, which tells the reader which
@@ -178,7 +178,7 @@
 # specify the list of include paths that are normally passed to the compiler
 # using the -I flag.
 
-STRIP_FROM_INC_PATH    = "@TFM_ROOT_DIR@"
+STRIP_FROM_INC_PATH    = "@CMAKE_SOURCE_DIR@"
 
 # If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but
 # less readable) file names. This can be useful is your file systems doesn't
@@ -797,10 +797,10 @@
 # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
 # Note: If this tag is empty the current directory is searched.
 
-INPUT                  = "@TFM_ROOT_DIR@/doxygen" \
-                         "@TFM_ROOT_DIR@/interface" \
-                         "@TFM_ROOT_DIR@/secure_fw" \
-                         "@TFM_ROOT_DIR@/test"
+INPUT                  = "@CMAKE_SOURCE_DIR@/doxygen" \
+                         "@CMAKE_SOURCE_DIR@/interface" \
+                         "@CMAKE_SOURCE_DIR@/secure_fw" \
+                         "@CMAKE_SOURCE_DIR@/test"
 
 
 # This tag can be used to specify the character encoding of the source files
@@ -1423,7 +1423,7 @@
 # The default value is: org.doxygen.Project.
 # This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
 
-ECLIPSE_DOC_ID         = @DOXYCFG_ECLIPSE_DOCID@
+# ECLIPSE_DOC_ID         = @DOXYCFG_ECLIPSE_DOCID@
 
 # If you want full control over the layout of the generated HTML pages it might
 # be necessary to disable the index and replace it with your own. The
diff --git a/tools/documentation/tfm_cmake_defaults.py b/tools/documentation/tfm_cmake_defaults.py
index e90bd60..a5761c2 100644
--- a/tools/documentation/tfm_cmake_defaults.py
+++ b/tools/documentation/tfm_cmake_defaults.py
@@ -211,7 +211,6 @@
                  "SPHINXCFG_TFM_VERSION_FULL": tfm_def_tfm_ver_full,
                  "Java_JAVA_EXECUTABLE": tfm_def_java_binary,
                  "DOXYCFG_OUTPUT_PATH": tfm_def_doxy_output_dir,
-                 "DOXYCFG_ECLIPSE_DOCID": "org.arm.tf-m-refman",
                  "DOXYCFG_TFM_VERSION": tfm_def_tfm_ver_full,
                  }
 # Only Override the version