Download CCS

The Code Composer Studio (CCS) download home page is, https://www.ti.com/tool/CCSTUDIO
Download CCS 12.5.0 from above link
Unzip the file for Windows or Linux at any location on your host PC

Install CCS

Install CCS 12.5.0 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 AM3x, AM4x, AM5x and AM6x MPUs" to install AM65X related emulation and GELs

CCS Select Components

Follow the steps, until CCS is installed.
If using Linux, additionally go through the instructions given at CCS Linux Host Support
Launch CCS and select the workspace.

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 1.18.0 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 3.2.0.LTS listed here
- Sometimes, you need to click "Restore Defaults" and then "Refresh"

CCS Compilers

Create Target Configuration

AM65X-IDK

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 "AM65X" and select "IDK_AM65x"

Select AM65X IDK

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.
The AM65x target configuration is just barebone, no GELs associated with PSC/PLL/DDR are loaded. IDK_AM65X target configuration loads up and executes the appropriate GELs for the board.
For SBL, you can use either, but for CCS load, you need to use IDK_AM65X.
Now you can move on to IDK Setup to prepare your IDK for running programs.

Known Issues

To use the debugger correctly with CCS in Linux, some additional steps are required. There is a message which is shown during the CCS installation to do this, but more often than not this is missed. If you miss this, you might get an error similar to

CS_DAP_0: Error initializing emulator: (Error -260 @ 0x0) An attempt to connect to the XDS110 failed. The cause may be one or more of: no XDS110 is connected,
invalid firmware update, invalid XDS110 serial number, or faulty USB cable. The firmware and serial number may be updated using the xdsdfu utility found in the
.../ccs_base/common/uscif/xds110 directory of your installation. View the XDS110SupportReadMe.pdf file there for instructions. (Emulation package 9.4.0.00129)

There might be IDK specific issues in which the debugger maybe needs to be connected after the power is turned ON, or other similar issues. For this refer the IDK specific setup page at IDK Setup