Download CCS

The Code Composer Studio (CCS) download home page is, https://www.ti.com/tool/CCSTUDIO
Download CCS 10.4.0 from above link
Unzip the file for Windows or Linux at any location on your host PC

Install CCS

Install CCS 10.4.0 by double clicking the installer file from the downloaded and un-zipped CCS package file.

CCS Installer File

Follow the steps and at below screen, recommend to keep install directory as default.

CCS Install Path

Follow the steps and at below screen, recommend to keep setup type as "custom"

CCS Setup Type

Follow the steps and at below screen, select the component as "Sitara" to install AM243X related emulation and GELs

CCS Select Components

Follow the steps, until CCS is installed.
Launch CCS and select the workspace, default workspace is good enough. You can check the box "Use this as default and do not ask again"

CCS Select Workspace

Check Packages as seen by CCS

Launch CCS
Goto "Window > Preferences"

CCS Preferences

Goto "Code Composer Studio > Products", make sure you see SysConfig 1.9.0 listed here.
- Sometimes, you need to click "Restore Defaults" and then "Refresh"

CCS Products

Goto "Code Composer Studio > Build > Compilers", make sure you see TI CLANG 1.3.0.LTS listed here
- Sometimes, you need to click "Restore Defaults" and then "Refresh"

CCS Compilers

Create Target Configuration

AM243X-LP

Goto "View > Target Configuration"

Target Configuration Menu

Create a new target configuration

New Target Configuration

Give a nice name to the new target configuration, typically {soc name}_{JTAG type}

Target Configuration Name

Select connection as XDS110 USB Debug Probe

Select JTAG Connection

In "Board or Device" type "AM243X" and select "AM243x_LAUNCHPAD"

Select AM243X LP

Bypass not used CPUs: Go to "Advanced" tab and enable the "Bypass" option as shown in the below image. typically, ICSS_Gx are not used by most developers, so these can be bypassed. Note, you can always undo this change later, by editing the target configuration, should you need these CPUs.

Bypass unused targets

Click "Save" to save the newly created target configuration.
Now you can move on to EVM Setup to prepare your AM243X-LP for running programs.

AM243X-EVM

Goto "View > Target Configuration"