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[FAQ] AM64x / AM24x: How to use Code Composer Studio (CCS) to connect to PRU_ICSSG?

Other Parts Discussed in Thread: TMDS64GPEVM, SK-AM64, TMDS243GPEVM, LP-AM243

I have a TI EVM for AM64x or AM24x. I want to connect to the PRU_ICSSG cores in Code Composer Studio. How do I do it?