I followed the below link to build the U-boot , kernel , and AFS.
https://processors.wiki.ti.com/index.php/6AO.1.1_Release_Notes#Building_U-boot_sources
And flash the binaries to the Processor-sdk-DRA7x board , and booted successfully.
I connect liliput display to HDMI but it didn't display anything only one grey screen was showing.
Also, i'm unable to get adb shell , "adb devices" does not detect any device.