If I recall correctly, and the OMAP253x documentation should substantiate this claim, the DSP is held in reset by default. I suspect the series of GELs files that were referenced before actually performed some operations to take the DSP out of reset and hold it in an idle loop until the user then instructs CCS to connect to the DSP.
The first thing to get established is the connection to the ARM11. Once we establish that, we then know the JTAG scan path is correct. At that point we start working towards getting the DSP connected.