diff --git a/recipes-bsp/pru/pru-icss_git.bb b/recipes-bsp/pru/pru-icss_git.bb
index 3c871b70..e150076e 100644
--- a/recipes-bsp/pru/pru-icss_git.bb
+++ b/recipes-bsp/pru/pru-icss_git.bb
@@ -8,10 +8,10 @@ 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 = "81b568741b8b98e6f590271a9aea5956d2b2d9ce"
+SRCREV = "1d9249c012005a669a6ffb2f76255d72ed5c0e4c"
 
 PV = "5.2.1"
-PR = "r1"
+PR = "r2"
 
 require recipes-ti/includes/ti-paths.inc
 
@@ -103,6 +103,13 @@ do_install_append_k2g() {
 }
 
 do_install_append_am65xx-evm() {
+    for i in 0 1 
+    do
+        install -m 644 ${S}/examples/${PLATFORM}/PRU_Halt/gen/PRU${i}/PRU_Halt_${i}.out \
+                   ${D}/lib/firmware/pru
+        install -m 644 ${S}/examples/${PLATFORM}/RTU_Halt/gen/RTU${i}/RTU_Halt_${i}.out \
+                   ${D}/lib/firmware/pru
+    done
     for i in 0 1 2
     do
         for j in 0 1
@@ -116,7 +123,7 @@ do_install_append_am65xx-evm() {
     done
 }
 
-FILES_${PN}-halt = "/lib/firmware/pru/PRU_Halt.out"
+FILES_${PN}-halt = "/lib/firmware/pru/PRU_Halt* /lib/firmware/pru/RTU_Halt*"
 FILES_${PN}-rpmsg-echo = "/lib/firmware/pru/PRU_RPMsg_Echo_Interrupt* /lib/firmware/pru/RTU_RPMsg_Echo_Interrupt*"
 
 # Set up names for the firmwares
@@ -161,9 +168,6 @@ ALTERNATIVE_LINK_NAME[am65x-rtu2_1-fw] = "/lib/firmware/am65x-rtu2_1-fw"
 # Create the pru-icss-halt firmware alternatives
 ALTERNATIVE_pru-icss-halt = "${PRU_ICSS_ALTERNATIVES}"
 
-# am65xx doesn't have halt FW for now
-ALTERNATIVE_pru-icss-halt_am65xx-evm = ""
-
 ALTERNATIVE_TARGET_pru-icss-halt[am335x-pru0-fw] = "/lib/firmware/pru/PRU_Halt.out"
 ALTERNATIVE_TARGET_pru-icss-halt[am335x-pru1-fw] = "/lib/firmware/pru/PRU_Halt.out"
 
@@ -182,6 +186,19 @@ ALTERNATIVE_TARGET_pru-icss-halt[k2g-pru0_1-fw] = "/lib/firmware/pru/PRU_Halt.ou
 ALTERNATIVE_TARGET_pru-icss-halt[k2g-pru1_0-fw] = "/lib/firmware/pru/PRU_Halt.out"
 ALTERNATIVE_TARGET_pru-icss-halt[k2g-pru1_1-fw] = "/lib/firmware/pru/PRU_Halt.out"
 
+ALTERNATIVE_TARGET_pru-icss-halt[am65x-pru0_0-fw] = "/lib/firmware/pru/PRU_Halt_0.out"
+ALTERNATIVE_TARGET_pru-icss-halt[am65x-pru0_1-fw] = "/lib/firmware/pru/PRU_Halt_1.out"
+ALTERNATIVE_TARGET_pru-icss-halt[am65x-pru1_0-fw] = "/lib/firmware/pru/PRU_Halt_0.out"
+ALTERNATIVE_TARGET_pru-icss-halt[am65x-pru1_1-fw] = "/lib/firmware/pru/PRU_Halt_1.out"
+ALTERNATIVE_TARGET_pru-icss-halt[am65x-pru2_0-fw] = "/lib/firmware/pru/PRU_Halt_0.out"
+ALTERNATIVE_TARGET_pru-icss-halt[am65x-pru2_1-fw] = "/lib/firmware/pru/PRU_Halt_1.out"
+ALTERNATIVE_TARGET_pru-icss-halt[am65x-rtu0_0-fw] = "/lib/firmware/pru/RTU_Halt_0.out"
+ALTERNATIVE_TARGET_pru-icss-halt[am65x-rtu0_1-fw] = "/lib/firmware/pru/RTU_Halt_1.out"
+ALTERNATIVE_TARGET_pru-icss-halt[am65x-rtu1_0-fw] = "/lib/firmware/pru/RTU_Halt_0.out"
+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_PRIORITY_pru-icss-halt = "50"
 
 # Create the pru-icss-rpmsg-echo firmware alternatives
@@ -220,9 +237,6 @@ ALTERNATIVE_TARGET_pru-icss-rpmsg-echo[am65x-rtu2_1-fw] = "/lib/firmware/pru/RTU
 
 ALTERNATIVE_PRIORITY_pru-icss-rpmsg-echo = "100"
 
-# am65xx doesn't have halt FW for now
-ALLOW_EMPTY_${PN}-halt = "1"
-
 ALLOW_EMPTY_${PN} = "1"
 
 # This installs PRU firmware, so skip "arch" QA check