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CCS/TMS570LC4357: JTAG daisy-chain with 1 board, 2 MCUs and 1 JTAG. How to use/setup CCS?

Part Number: TMS570LC4357

Tool/software: Code Composer Studio

Hi,
we are about to make a prototype board with two TMS570LC4357 and one JTAG using USB560v2. 

Found this information:
http://processors.wiki.ti.com/index.php/Connect_2%2B_Chips_With_Emulator

But the question is, how do we load/debug the MCUs from CCS? 

One CCS with two parallel projects?

Kind regards,
Lars von Wachenfeldt
Bombardier Transportation
Rail Control Solutions