docs/launch.json

/// Sample Launch configuration
{
    "version": "0.2.0",
    "configurations": [
        {
            "name": "(gdb) Launch",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/path/to/elf",
            "args": [],
            "stopAtEntry": true,
            "cwd": "${workspaceRoot}",
            "environment": [],
            "externalConsole": true,
            "linux": {
                "MIMode": "gdb",
                "miDebuggerPath": "/path/to/bin/tricore-gdb",
                "miDebuggerServerAddress": "<ip on which tricore-gdb-das is launched>"

            },
            "stopAtConnect": true,
            "launchCompleteCommand": "exec-continue",
            // "preLaunchTask":"Launch tricore-gdb-das", Can be used to automate the launching
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                },
                {
                    "description":  "Use tricore 1.6 architercture",
                    "text": "set architecture TriCore:V1_6",
                    "ignoreFailures": true
                },
                {
                    "description": "set symbol path",
                    "text": "symbol-file ${workspaceFolder}/path/to/elf",
                    "ignoreFailures": true
                },
                {
                    "description": "set substitute path",
                    "text": "set substitute-path <from path> <to path>",
                    "ignoreFailures": true
                }
            ]
        }
    ]
}