feat(tricore): Add support for TC4Dx COM board

Makefile

@@ -72,7 +72,7 @@ environment+=BAO_DEMOS_SDCARD=/media/$$USER/boot
 all: platform 
 
 bao_repo:=https://github.com/bao-project/bao-hypervisor
-bao_version:=demo-next
+bao_version:=feat/tricore
 bao_src:=$(wrkdir_src)/bao
 bao_cfg_repo:=$(wrkdir_demo_imgs)/config
 wrkdirs+=$(bao_cfg_repo)

README.md

@@ -55,6 +55,10 @@ c) For RISC-V (both RV64 and RV32), use the **riscv64-unknown-elf-** toolchain.
 
 Download it from [Bao's Project RISC-V Toolchain repo](riscv-toolchains).
 
+d) For Tricore, use the **tricore-elf-** toolchain.
+
+Download it from [Infineon's website][tricore-toolchains].
+
 Install the toolchain. Then, set the **CROSS_COMPILE** environment variable 
 with the reference toolchain prefix path:
 
@@ -232,6 +236,9 @@ Build the firmware and deploy the system according to the target platform:
 #### RISC-V platforms:
 * [QEMU virt](platforms/qemu-riscv64-virt/README.md)
 
+#### Tricore platforms:
+* [TC4Dx COM](platforms/tc4dx/README.md)
+
 ---
 
 ## Appendix I
@@ -250,6 +257,7 @@ Build the firmware and deploy the system according to the target platform:
 | FVP-R AArch32       | fvp-r-aarch32     | aarch32 |
 | QEMU RV64 virt      | qemu-riscv64-virt | riscv64 |
 | QEMU RV32 virt      | qemu-riscv32-virt | riscv32 |
+| Infineon TC4Dx COM  | tc4dx             | tricore |
 
 
 |                  | DEMO             |
@@ -275,6 +283,8 @@ Build the firmware and deploy the system according to the target platform:
 | fvp-r-aarch32     | x         |                |              | x                |
 | qemu-riscv64-virt | x         | x              |              |                  |
 | qemu-riscv32-virt | x         | x              |              |                  |
+| tc4dx             | x         |                |              |                  |
+
 
 
 ---
@@ -292,10 +302,12 @@ Build the firmware and deploy the system according to the target platform:
 | mkimage                 | 2022.01 |
 | cmake                   | 3.22.1  |
 | ninja                   | 1.10.1  |
+| tricore-elf-gcc         | 11.3.1  |
 
 
 <!-- Links -->
 
 [aarch64-toolchains]: https://developer.arm.com/-/media/Files/downloads/gnu/14.2.rel1/binrel/arm-gnu-toolchain-14.2.rel1-x86_64-aarch64-none-elf.tar.xz
 [aarch32-toolchains]: https://developer.arm.com/-/media/Files/downloads/gnu/14.2.rel1/binrel/arm-gnu-toolchain-14.2.rel1-x86_64-arm-none-eabi.tar.xz
 [riscv-toolchains]: https://github.com/bao-project/bao-riscv-toolchain/releases/download/gc891d8dc23e/riscv-unknown-linux-gnu-13.2.0-ubuntu-22.04.tar.gz
+[tricore-toolchains]: https://softwaretools-hosting.infineon.com/packages/com.ifx.tb.tool.aurixgcc/versions/05-2025/artifacts/aurixgcc_05-2025_Linux_x86-x64.zip/download

demos/baremetal/configs/tc4dx.c

@@ -0,0 +1,57 @@
+#include <config.h>
+
+VM_IMAGE(baremetal_image, XSTR(BAO_DEMOS_WRKDIR_IMGS/baremetal.bin))
+
+struct config config = {
+
+        .vmlist_size = 1,        
+        .hyp.base_addr = 0xA0000000,
+
+        .vmlist = (struct vm_config[]){
+            {       
+                .image = {
+                    .base_addr = 0x90100000, 
+                    .load_addr = VM_IMAGE_OFFSET(baremetal_image),
+                    .size = VM_IMAGE_SIZE(baremetal_image),
+                },
+
+                .entry = 0x90100000, 
+                .platform = {
+                    .cpu_num = 6,
+                    .region_num = 1,
+                    .regions = (struct vm_mem_region[]){
+                        {
+                            .base = 0x90100000, 
+                            .size = 0x100000 
+                        },
+                    },
+                    .dev_num = 3,
+                    .devs = (struct vm_dev_region[]){
+                        { //TIMER
+                            .pa = 0xF8800000,
+                            .va = 0xF8800000,
+                            .size = 0x1000,
+                            .interrupt_num = 1,
+                            .interrupts = (irqid_t[]) {10},
+                        },
+                        {   //Ports 13 and 14 base is 13, 0x400 for each port
+                            .pa = 0xF003D400,
+                            .va = 0xF003D400,
+                            .size = 0x800,
+                        },
+                        { //UART
+                            .pa = 0xF46C0000,
+                            .va = 0xF46C0000,
+                            .size = 0x200,
+                            .interrupt_num = 1,
+                            .interrupts = (irqid_t[]) {173},
+                        }
+                    },
+                    .arch = {
+                        .gspr_num = 1,
+                        .gspr_groups = (unsigned long int[]){1},
+                    }
+                }
+            },
+        },
+};

demos/baremetal/src/demo.c

@@ -46,21 +46,24 @@
 
          irq_set_handler(UART_IRQ_ID, uart_rx_handler);
          irq_set_handler(TIMER_IRQ_ID, timer_handler);
-         irq_set_handler(IPI_IRQ_ID, ipi_handler);
+
 
          uart_enable_rxirq();
 
          timer_set(TIMER_INTERVAL);
          irq_enable(TIMER_IRQ_ID);
-         irq_set_prio(TIMER_IRQ_ID, IRQ_MAX_PRIO);
+         irq_set_prio(TIMER_IRQ_ID, TIMER_IRQ_PRIO);
 
          master_done = true;
      }
 
      irq_enable(UART_IRQ_ID);
-     irq_set_prio(UART_IRQ_ID, IRQ_MAX_PRIO);
+     irq_set_prio(UART_IRQ_ID, UART_IRQ_PRIO);
+
+     irq_set_handler(IPI_IRQ_ID, ipi_handler);
+
      irq_enable(IPI_IRQ_ID);
-     irq_set_prio(IPI_IRQ_ID, IRQ_MAX_PRIO);
+     irq_set_prio(IPI_IRQ_ID, IPI_IRQ_PRIO);
 
      while(!master_done);
      spin_lock(&print_lock);
@@ -69,4 +72,4 @@
 
      while(1) wfi();
  }
-
+

guests/baremetal/make.mk

@@ -1,6 +1,6 @@
 baremetal_src:=$(wrkdir_src)/baremetal
 baremetal_repo:=https://github.com/bao-project/bao-baremetal-guest.git 
-baremetal_branch:=demo-next
+baremetal_branch:=feat/tricore
 
 $(baremetal_src):
 	git clone $(baremetal_repo) $@ --branch $(baremetal_branch)

platforms/README.md

@@ -18,3 +18,6 @@ well as RISC-V using RV64:
 
 #### RISC-V platforms:
 * [QEMU virt](qemu-riscv64-virt/README.md)
+
+#### Tricore platforms:
+* [TC4Dx COM](platforms/tc4dx/README.md)

platforms/tc4dx/README.md

@@ -0,0 +1,44 @@
+# Infineon Tricore TC4DX COM
+
+---
+
+**NOTE**
+
+We use TRACE32 platform to program the board. A generated .cmm script
+will be available after the build to flash and run the demo.
+
+---
+
+<!--- instruction#1 -->
+## 1) Setup board
+
+Make sure you have the debug probe to connected to the board.
+The all pins in the HW Boot Configuration Dipswitch should be off.
+
+<!--- instruction#2 -->
+## 2) Flash the demo
+
+Run the following command:
+
+` t32mtc -s ./platforms/tc4dx/startup.cmm `
+
+<!--- instruction#end -->
+
+The startup.cmm opens several windows inside TRACE32, including the main script
+window. If you want to do it manually, open TRACE32 and select edit 
+the template.cmm or the tc4_demo.cmm file 
+
+<!--- instruction#3 -->
+## 3) Run the script
+
+Click GO on the central window.
+
+<!--- instruction#end -->
+
+Alternatively, if you want to re-flash and run the demo, select the option DO
+on the window with the main script. And then, click GO on the main window to
+run the demo.
+
+<!-- Links -->
+
+[AURIX-GCC]: https://softwaretools.infineon.com/assets/com.ifx.tb.tool.aurixgcc

platforms/tc4dx/config.t32

@@ -0,0 +1,57 @@
+;
+;please refer the installation guide for more information
+;about your configuration
+;
+;
+;uncomment the following 3 lines if you don't use already environment variables
+;changes to the actual directory names are necessary
+;OS=
+;SYS=/opt/t32
+;TMP=/usr/tmp
+
+;uncomment the following 4 lines if you use PowerTrace, PowerNexus or PowerDebugEthernet
+;with onhost driver executable (t32m*) via ethernet interface
+;the nodename t32 is only an example, please replace it with the actual node name
+;PBI=
+;NET
+;NODE=t32
+;PACKLEN=1024
+
+;uncomment the following 2 lines if you use PowerTrace, PowerNexus, PowerDebugEthernet or
+;PowerDebugInterface USB with onhost driver executable (t32m*) via USB interface
+;please refer the installation manual (file icd_quick_installation.pdf) about more details
+;concerning USB driver installation
+;PBI=
+;USB
+
+;uncomment the following 3 lines if you use an ICE or PodbusEthernetController
+;with standard hostdriver executable (t32cde) via ethernet interface
+;the nodename t32 is only an example, please replace it with the actual node name
+;LINK=NET
+;NODE=t32
+;PACKLEN=1024
+
+;uncomment the following 1 lines if you use SCSI interface (ICE)
+;LINK=SCSI
+
+;uncomment the following line and add more options if required (see installation guide)
+;SCREEN=
+
+;uncomment the following 3 lines if you want to use TRACE32 fonts
+;SCREEN=
+;FONT=DEC
+;FONT=SMALL
+
+;uncomment the following 2 lines if you want to use TRACE32 bitmap fonts
+;SCREEN=
+;FONTMODE=3
+
+;uncomment the following 2 lines if you use OPENWINDOWS
+;SCREEN=
+;WMGR=OW16
+
+;uncomment the following 2 lines if you use MOTIF
+;SCREEN=
+;WMGR=MOTIF16
+
+

platforms/tc4dx/make.mk

@@ -0,0 +1,25 @@
+ARCH:=tricore
+
+instructions:=$(bao_demos)/platforms/$(PLATFORM)/README.md
+template:=$(bao_demos)/platforms/$(PLATFORM)/template.cmm
+script:=$(bao_demos)/platforms/$(PLATFORM)/tc4_demo.cmm
+
+baremetal_elf:=$(wrkdir_src)/baremetal/build/tc4dx/baremetal.elf
+bao_elf:=$(bao_src)/bin/tc4dx/$(DEMO)/bao.elf
+
+#the script can run without the guest elf. That might make this script
+#cleaner. It is worth consdering, and adding that to the readme.
+
+# add a way to auto run the script after a command.
+
+script_generation: 
+	@sed \
+		-e 's|@BAO_ELF@|$(bao_elf)|g' \
+		-e 's|@BAREMETAL_ELF@|$(baremetal_elf)|g' \
+		$(template) > $(script)
+
+platform: $(bao_image) $(flash_image) script_generation
+	$(call print-instructions, $(instructions), 1, false)
+	$(call print-instructions, $(instructions), 2, false)
+	$(call print-instructions, $(instructions), 3, true)
+

platforms/tc4dx/startup.cmm

@@ -0,0 +1,40 @@
+B::
+
+TOOLBAR   ON
+STATUSBAR ON
+FramePOS 274.29,1.8,,,Maximized
+WinPAGE.RESet
+
+WinPAGE.Create P000
+WinCLEAR
+
+WinPOS 0.0 0.0 78. 32. 14. 0. W008
+PEDIT "/home/mafs/bao-demos/platforms/tc4dx/tc4_demo.cmm"
+DO "/home/mafs/bao-demos/platforms/tc4dx/tc4_demo.cmm"
+
+
+WinPOS 2.4286 37.8 75. 16. 0. 0. W002
+Register
+
+WinPOS 195.57 43.067 75. 10. 0. 1. W003
+WinTABS 20. 250.
+CORE.List
+
+WinPOS 81.571 43.133 110. 8. 0. 0. W005
+Var.Watch
+
+
+WinPOS 198.57 0.0 72. 27. 5. 0. W006
+Frame /Locals /Caller
+
+WinPOS 198.14 31.8 73. 5. 23. 1. W000
+WinTABS 13. 0. 0. 0. 0. 0. 0. 0. 0. 22.
+Break.List
+
+WinPOS 81.286 0.0 114. 37. 13. 1. W001
+WinTABS 10. 10. 25.
+List
+
+WinPAGE.select P000
+
+ENDDO