Steps

    Create TargetConfiguration file.
        Select Debugger Probe : XDS2XX USB Debugger Probe
        Select GPE-EVM-AM57xx- SiRevA
        Click Save
        Click on Test Connection.
        Confirm that test connection succeeds and proceed
    Build your project
    Go to Debug Configuration => Program => Select DSP1 from drop down menu => click clear=> Select DSP2 from drop down menu=>click clear=>click apply=> click Debug
    Error "Wait In Reset" should pop-up.
    Click cancel and proceed
    Now under debug tab select ArmA15_0 =>right click=>connect target=>wait for Gel files to load (check console prints)
    Go to Scripts=> AM57xx MultiCore=> DSP1 Enable
    Again Go to Scripts=> AM57xx MultiCore=> DSP2 Enable

Reference

http://processors.wiki.ti.com/index.php/AM572x_GP_EVM_Hardware_Setup