This paper studies the scheduling and assignment problem that minimizes the total energy including both dynamic and leakage energy for applications with loops on multi-voltage, multi-processor DSP. An algorithm, LSAMP (Loop Scheduling and Assignment to Minimize Power), is proposed. The algorithm attempts to minimize the total energy while satisfying timing constraint with guaranteed probability. We will perform scheduling and Assignment simultaneously. Our approach shows better performance than the approach that considers scheduling and assignment at separate phases. Compared with previous work, our algorithm shows a significant improvement in total energy reduction.