Hi,
I'm afraid eQEP driver is not available on AM335x. But there are drivers in controlSUITE for the same IP(http://www.ti.com/tool/controlsuite). The examples can be found here
ti\controlSUITE\device_support\f28m36x\v202\F28M36x_examples_Control\eqep_pos_speed\c28
ti\controlSUITE\device_support\f28m36x\v202\F28M36x_examples_Control\eqep_freq_cal\c28
Regards,
Vinesh