diff --git a/recipes-bsp/pru/pru-icss_git.bb b/recipes-bsp/pru/pru-icss_git.bb
index fc7b6f7d..72888515 100644
--- a/recipes-bsp/pru/pru-icss_git.bb
+++ b/recipes-bsp/pru/pru-icss_git.bb
@@ -1,17 +1,17 @@
 DESCRIPTION = "Programmable Real-time Unit Software Package"
 HOMEPAGE = "http://processors.wiki.ti.com/index.php/PRU-ICSS"
-LICENSE = "BSD-3-Clause & PD"
+LICENSE = "BSD-3-Clause & GPL-2.0 & PD"
 
-LIC_FILES_CHKSUM = "file://PRU-Package-v6.1-Manifest.html;md5=1e37797ebe9254922f4278bb6047211c"
+LIC_FILES_CHKSUM = "file://PRU-Package-v6.0-Manifest.html;md5=ea854230556f47609efdaedca174b44c"
 
 inherit update-alternatives
 
 BRANCH = "master"
 SRC_URI = "git://git.ti.com/pru-software-support-package/pru-software-support-package.git;protocol=git;branch=${BRANCH}"
-SRCREV = "a9bff6f43001cf66dc1ed3ef7e9dfb688b67f7bb"
+SRCREV = "ff252a5e174f1b6aa42931744939f20d25d8e070"
 
-PV = "5.7.0"
-PR = "r0"
+PV = "5.6.0"
+PR = "r1"
 
 require recipes-ti/includes/ti-paths.inc
 
@@ -119,8 +119,6 @@ do_install_append_am65xx() {
                    ${D}/lib/firmware/pru
         install -m 644 ${S}/examples/${PLATFORM}/RTU_Halt/gen/RTU${i}/RTU_Halt_${i}.out \
                    ${D}/lib/firmware/pru
-        install -m 644 ${S}/examples/${PLATFORM}/TX_PRU_Halt/gen/TX_PRU${i}/TX_PRU_Halt_${i}.out \
-                   ${D}/lib/firmware/pru
     done
     for i in 0 1 2
     do
@@ -201,12 +199,6 @@ ALTERNATIVE_LINK_NAME[am65x-rtu1_0-fw] = "/lib/firmware/am65x-rtu1_0-fw"
 ALTERNATIVE_LINK_NAME[am65x-rtu1_1-fw] = "/lib/firmware/am65x-rtu1_1-fw"
 ALTERNATIVE_LINK_NAME[am65x-rtu2_0-fw] = "/lib/firmware/am65x-rtu2_0-fw"
 ALTERNATIVE_LINK_NAME[am65x-rtu2_1-fw] = "/lib/firmware/am65x-rtu2_1-fw"
-ALTERNATIVE_LINK_NAME[am65x-txpru0_0-fw] = "/lib/firmware/am65x-txpru0_0-fw"
-ALTERNATIVE_LINK_NAME[am65x-txpru0_1-fw] = "/lib/firmware/am65x-txpru0_1-fw"
-ALTERNATIVE_LINK_NAME[am65x-txpru1_0-fw] = "/lib/firmware/am65x-txpru1_0-fw"
-ALTERNATIVE_LINK_NAME[am65x-txpru1_1-fw] = "/lib/firmware/am65x-txpru1_1-fw"
-ALTERNATIVE_LINK_NAME[am65x-txpru2_0-fw] = "/lib/firmware/am65x-txpru2_0-fw"
-ALTERNATIVE_LINK_NAME[am65x-txpru2_1-fw] = "/lib/firmware/am65x-txpru2_1-fw"
 
 ALTERNATIVE_LINK_NAME[j7-pru0_0-fw] = "/lib/firmware/j7-pru0_0-fw"
 ALTERNATIVE_LINK_NAME[j7-pru0_1-fw] = "/lib/firmware/j7-pru0_1-fw"
@@ -225,7 +217,6 @@ ALTERNATIVE_LINK_NAME[j7-txpru1_1-fw] = "/lib/firmware/j7-txpru1_1-fw"
 ALTERNATIVE_pru-icss-halt = "${PRU_ICSS_ALTERNATIVES}"
 
 # Only Halt firmware images are supported for the Tx_PRU cores
-ALTERNATIVE_pru-icss-halt_append_am65xx = "am65x-txpru0_0-fw am65x-txpru0_1-fw am65x-txpru1_0-fw am65x-txpru1_1-fw am65x-txpru2_0-fw am65x-txpru2_1-fw"
 ALTERNATIVE_pru-icss-halt_append_j7 = " j7-txpru0_0-fw j7-txpru0_1-fw j7-txpru1_0-fw j7-txpru1_1-fw"
 
 ALTERNATIVE_TARGET_pru-icss-halt[am335x-pru0-fw] = "/lib/firmware/pru/PRU_Halt.out"
@@ -258,12 +249,6 @@ ALTERNATIVE_TARGET_pru-icss-halt[am65x-rtu1_0-fw] = "/lib/firmware/pru/RTU_Halt_
 ALTERNATIVE_TARGET_pru-icss-halt[am65x-rtu1_1-fw] = "/lib/firmware/pru/RTU_Halt_1.out"
 ALTERNATIVE_TARGET_pru-icss-halt[am65x-rtu2_0-fw] = "/lib/firmware/pru/RTU_Halt_0.out"
 ALTERNATIVE_TARGET_pru-icss-halt[am65x-rtu2_1-fw] = "/lib/firmware/pru/RTU_Halt_1.out"
-ALTERNATIVE_TARGET_pru-icss-halt[am65x-txpru0_0-fw] = "/lib/firmware/pru/TX_PRU_Halt_0.out"
-ALTERNATIVE_TARGET_pru-icss-halt[am65x-txpru0_1-fw] = "/lib/firmware/pru/TX_PRU_Halt_1.out"
-ALTERNATIVE_TARGET_pru-icss-halt[am65x-txpru1_0-fw] = "/lib/firmware/pru/TX_PRU_Halt_0.out"
-ALTERNATIVE_TARGET_pru-icss-halt[am65x-txpru1_1-fw] = "/lib/firmware/pru/TX_PRU_Halt_1.out"
-ALTERNATIVE_TARGET_pru-icss-halt[am65x-txpru2_0-fw] = "/lib/firmware/pru/TX_PRU_Halt_0.out"
-ALTERNATIVE_TARGET_pru-icss-halt[am65x-txpru2_1-fw] = "/lib/firmware/pru/TX_PRU_Halt_1.out"
 
 ALTERNATIVE_TARGET_pru-icss-halt[j7-pru0_0-fw] = "/lib/firmware/pru/PRU_Halt_0.out"
 ALTERNATIVE_TARGET_pru-icss-halt[j7-pru0_1-fw] = "/lib/firmware/pru/PRU_Halt_1.out"