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CCS/BEAGLEBK: AM335x programming questions

Part Number: BEAGLEBK

Tool/software: Code Composer Studio

I was going to start off programming my BBB with C++ before running into this post: https://www.twosixlabs.com/running-a-baremetal-beaglebone-black-part-1/

Apparently, BBB can be programmed with CCS, which offers assembly, C, and C++.
Questions:
1.  Does the code compiled with CCS run on the OS, or straight on the CPU?  If on OS, where is it written to, how does it get started and executed?  Does CCS write the compiled the code onto the eMMC or the SD card?
2.  What are the differences between CCS C/C++ code and CCS assembly code running on BBB?
3.  What are the differences between CCS C/C++ code and C/C++ code from another IDE or compiler running on BBB?
4.  Can I write assembly code with CCS, run on the OS, and interact with the OS' other processes (communication, file I/O)?
Thank you so much.