diff --git a/recipes-bsp/pru/pru-icss_git.bb b/recipes-bsp/pru/pru-icss_git.bb
index c74a15dc..3acafa3b 100644
--- a/recipes-bsp/pru/pru-icss_git.bb
+++ b/recipes-bsp/pru/pru-icss_git.bb
@@ -8,9 +8,9 @@ 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 = "acd8479d7f3bdbb4536ceca3cd6803662babaa5a"
 
-PV = "5.7.0"
+PV = "6.0.0"
 PR = "r0"
 
 require recipes-ti/includes/ti-paths.inc
@@ -41,6 +41,7 @@ PLATFORM_ti33x = "am335x"
 PLATFORM_ti43x = "am437x"
 PLATFORM_omap-a15 = "am572x"
 PLATFORM_k2g = "k2g"
+PLATFORM_am64xx = "am64x"
 PLATFORM_am65xx = "am65x"
 PLATFORM_j7 = "j721e"
 
@@ -112,6 +113,28 @@ do_install_append_k2g() {
     done
 }
 
+do_install_append_am64xx(){
+    for i in 0 1
+    do
+        install -m 644 ${S}/examples/${PLATFORM}/PRU_Halt/gen/PRU${i}/PRU_Halt_${i}.out \
+                   ${D}${base_libdir}/firmware/pru
+        install -m 644 ${S}/examples/${PLATFORM}/RTU_Halt/gen/RTU${i}/RTU_Halt_${i}.out \
+                   ${D}${base_libdir}/firmware/pru
+        install -m 644 ${S}/examples/${PLATFORM}/TX_PRU_Halt/gen/TX_PRU${i}/TX_PRU_Halt_${i}.out \
+                   ${D}${base_libdir}/firmware/pru
+    done
+    for i in 0 1
+    do
+        for j in 0 1
+        do
+            install -m 0644 ${S}/examples/${PLATFORM}/PRU_RPMsg_Echo_Interrupt${j}/gen/icssg${i}/PRU_RPMsg_Echo_Interrupt${i}_${j}.out \
+                            ${D}${base_libdir}/firmware/pru
+            install -m 0644 ${S}/examples/${PLATFORM}/RTU_RPMsg_Echo_Interrupt${j}/gen/icssg${i}/RTU_RPMsg_Echo_Interrupt${i}_${j}.out \
+                            ${D}${base_libdir}/firmware/pru
+        done
+    done
+}
+
 do_install_append_am65xx() {
     for i in 0 1 
     do
@@ -167,6 +190,7 @@ PRU_ICSS_ALTERNATIVES_ti33x    = "am335x-pru0-fw am335x-pru1-fw"
 PRU_ICSS_ALTERNATIVES_ti43x    = "am437x-pru0_0-fw am437x-pru0_1-fw am437x-pru1_0-fw am437x-pru1_1-fw"
 PRU_ICSS_ALTERNATIVES_omap-a15 = "am57xx-pru1_0-fw am57xx-pru1_1-fw am57xx-pru2_0-fw am57xx-pru2_1-fw"
 PRU_ICSS_ALTERNATIVES_k2g      = "k2g-pru0_0-fw k2g-pru0_1-fw k2g-pru1_0-fw k2g-pru1_1-fw"
+PRU_ICSS_ALTERNATIVES_am64xx   = "am64x-pru0_0-fw am64x-pru0_1-fw am64x-pru1_0-fw am64x-pru1_1-fw am64x-rtu0_0-fw am64x-rtu0_1-fw am64x-rtu1_0-fw am64x-rtu1_1-fw"
 PRU_ICSS_ALTERNATIVES_am65xx   = "am65x-pru0_0-fw am65x-pru0_1-fw am65x-pru1_0-fw am65x-pru1_1-fw am65x-pru2_0-fw am65x-pru2_1-fw am65x-rtu0_0-fw am65x-rtu0_1-fw am65x-rtu1_0-fw am65x-rtu1_1-fw am65x-rtu2_0-fw am65x-rtu2_1-fw"
 PRU_ICSS_ALTERNATIVES_j7       = "j7-pru0_0-fw j7-pru0_1-fw j7-pru1_0-fw j7-pru1_1-fw j7-rtu0_0-fw j7-rtu0_1-fw j7-rtu1_0-fw j7-rtu1_1-fw"
 
@@ -189,6 +213,19 @@ ALTERNATIVE_LINK_NAME[k2g-pru0_1-fw] = "${base_libdir}/firmware/k2g-pru0_1-fw"
 ALTERNATIVE_LINK_NAME[k2g-pru1_0-fw] = "${base_libdir}/firmware/k2g-pru1_0-fw"
 ALTERNATIVE_LINK_NAME[k2g-pru1_1-fw] = "${base_libdir}/firmware/k2g-pru1_1-fw"
 
+ALTERNATIVE_LINK_NAME[am64x-pru0_0-fw] = "${base_libdir}/firmware/am64x-pru0_0-fw"
+ALTERNATIVE_LINK_NAME[am64x-pru0_1-fw] = "${base_libdir}/firmware/am64x-pru0_1-fw"
+ALTERNATIVE_LINK_NAME[am64x-pru1_0-fw] = "${base_libdir}/firmware/am64x-pru1_0-fw"
+ALTERNATIVE_LINK_NAME[am64x-pru1_1-fw] = "${base_libdir}/firmware/am64x-pru1_1-fw"
+ALTERNATIVE_LINK_NAME[am64x-rtu0_0-fw] = "${base_libdir}/firmware/am64x-rtu0_0-fw"
+ALTERNATIVE_LINK_NAME[am64x-rtu0_1-fw] = "${base_libdir}/firmware/am64x-rtu0_1-fw"
+ALTERNATIVE_LINK_NAME[am64x-rtu1_0-fw] = "${base_libdir}/firmware/am64x-rtu1_0-fw"
+ALTERNATIVE_LINK_NAME[am64x-rtu1_1-fw] = "${base_libdir}/firmware/am64x-rtu1_1-fw"
+ALTERNATIVE_LINK_NAME[am64x-txpru0_0-fw] = "${base_libdir}/firmware/am64x-txpru0_0-fw"
+ALTERNATIVE_LINK_NAME[am64x-txpru0_1-fw] = "${base_libdir}/firmware/am64x-txpru0_1-fw"
+ALTERNATIVE_LINK_NAME[am64x-txpru1_0-fw] = "${base_libdir}/firmware/am64x-txpru1_0-fw"
+ALTERNATIVE_LINK_NAME[am64x-txpru1_1-fw] = "${base_libdir}/firmware/am64x-txpru1_1-fw"
+
 ALTERNATIVE_LINK_NAME[am65x-pru0_0-fw] = "${base_libdir}/firmware/am65x-pru0_0-fw"
 ALTERNATIVE_LINK_NAME[am65x-pru0_1-fw] = "${base_libdir}/firmware/am65x-pru0_1-fw"
 ALTERNATIVE_LINK_NAME[am65x-pru1_0-fw] = "${base_libdir}/firmware/am65x-pru1_0-fw"
@@ -225,6 +262,7 @@ ALTERNATIVE_LINK_NAME[j7-txpru1_1-fw] = "${base_libdir}/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_am64xx = " am64x-txpru0_0-fw am64x-txpru0_1-fw am64x-txpru1_0-fw am64x-txpru1_1-fw"
 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"
 
@@ -246,6 +284,19 @@ ALTERNATIVE_TARGET_pru-icss-halt[k2g-pru0_1-fw] = "${base_libdir}/firmware/pru/P
 ALTERNATIVE_TARGET_pru-icss-halt[k2g-pru1_0-fw] = "${base_libdir}/firmware/pru/PRU_Halt.out"
 ALTERNATIVE_TARGET_pru-icss-halt[k2g-pru1_1-fw] = "${base_libdir}/firmware/pru/PRU_Halt.out"
 
+ALTERNATIVE_TARGET_pru-icss-halt[am64x-pru0_0-fw] = "${base_libdir}/firmware/pru/PRU_Halt_0.out"
+ALTERNATIVE_TARGET_pru-icss-halt[am64x-pru0_1-fw] = "${base_libdir}/firmware/pru/PRU_Halt_1.out"
+ALTERNATIVE_TARGET_pru-icss-halt[am64x-pru1_0-fw] = "${base_libdir}/firmware/pru/PRU_Halt_0.out"
+ALTERNATIVE_TARGET_pru-icss-halt[am64x-pru1_1-fw] = "${base_libdir}/firmware/pru/PRU_Halt_1.out"
+ALTERNATIVE_TARGET_pru-icss-halt[am64x-rtu0_0-fw] = "${base_libdir}/firmware/pru/RTU_Halt_0.out"
+ALTERNATIVE_TARGET_pru-icss-halt[am64x-rtu0_1-fw] = "${base_libdir}/firmware/pru/RTU_Halt_1.out"
+ALTERNATIVE_TARGET_pru-icss-halt[am64x-rtu1_0-fw] = "${base_libdir}/firmware/pru/RTU_Halt_0.out"
+ALTERNATIVE_TARGET_pru-icss-halt[am64x-rtu1_1-fw] = "${base_libdir}/firmware/pru/RTU_Halt_1.out"
+ALTERNATIVE_TARGET_pru-icss-halt[am64x-txpru0_0-fw] = "${base_libdir}/firmware/pru/TX_PRU_Halt_0.out"
+ALTERNATIVE_TARGET_pru-icss-halt[am64x-txpru0_1-fw] = "${base_libdir}/firmware/pru/TX_PRU_Halt_1.out"
+ALTERNATIVE_TARGET_pru-icss-halt[am64x-txpru1_0-fw] = "${base_libdir}/firmware/pru/TX_PRU_Halt_0.out"
+ALTERNATIVE_TARGET_pru-icss-halt[am64x-txpru1_1-fw] = "${base_libdir}/firmware/pru/TX_PRU_Halt_1.out"
+
 ALTERNATIVE_TARGET_pru-icss-halt[am65x-pru0_0-fw] = "${base_libdir}/firmware/pru/PRU_Halt_0.out"
 ALTERNATIVE_TARGET_pru-icss-halt[am65x-pru0_1-fw] = "${base_libdir}/firmware/pru/PRU_Halt_1.out"
 ALTERNATIVE_TARGET_pru-icss-halt[am65x-pru1_0-fw] = "${base_libdir}/firmware/pru/PRU_Halt_0.out"
@@ -302,6 +353,15 @@ ALTERNATIVE_TARGET_pru-icss-rpmsg-echo[k2g-pru0_1-fw] = "${base_libdir}/firmware
 ALTERNATIVE_TARGET_pru-icss-rpmsg-echo[k2g-pru1_0-fw] = "${base_libdir}/firmware/pru/PRU_RPMsg_Echo_Interrupt1_0.out"
 ALTERNATIVE_TARGET_pru-icss-rpmsg-echo[k2g-pru1_1-fw] = "${base_libdir}/firmware/pru/PRU_RPMsg_Echo_Interrupt1_1.out"
 
+ALTERNATIVE_TARGET_pru-icss-rpmsg-echo[am64x-pru0_0-fw] = "${base_libdir}/firmware/pru/PRU_RPMsg_Echo_Interrupt0_0.out"
+ALTERNATIVE_TARGET_pru-icss-rpmsg-echo[am64x-pru0_1-fw] = "${base_libdir}/firmware/pru/PRU_RPMsg_Echo_Interrupt0_1.out"
+ALTERNATIVE_TARGET_pru-icss-rpmsg-echo[am64x-pru1_0-fw] = "${base_libdir}/firmware/pru/PRU_RPMsg_Echo_Interrupt1_0.out"
+ALTERNATIVE_TARGET_pru-icss-rpmsg-echo[am64x-pru1_1-fw] = "${base_libdir}/firmware/pru/PRU_RPMsg_Echo_Interrupt1_1.out"
+ALTERNATIVE_TARGET_pru-icss-rpmsg-echo[am64x-rtu0_0-fw] = "${base_libdir}/firmware/pru/RTU_RPMsg_Echo_Interrupt0_0.out"
+ALTERNATIVE_TARGET_pru-icss-rpmsg-echo[am64x-rtu0_1-fw] = "${base_libdir}/firmware/pru/RTU_RPMsg_Echo_Interrupt0_1.out"
+ALTERNATIVE_TARGET_pru-icss-rpmsg-echo[am64x-rtu1_0-fw] = "${base_libdir}/firmware/pru/RTU_RPMsg_Echo_Interrupt1_0.out"
+ALTERNATIVE_TARGET_pru-icss-rpmsg-echo[am64x-rtu1_1-fw] = "${base_libdir}/firmware/pru/RTU_RPMsg_Echo_Interrupt1_1.out"
+
 ALTERNATIVE_TARGET_pru-icss-rpmsg-echo[am65x-pru0_0-fw] = "${base_libdir}/firmware/pru/PRU_RPMsg_Echo_Interrupt0_0.out"
 ALTERNATIVE_TARGET_pru-icss-rpmsg-echo[am65x-pru0_1-fw] = "${base_libdir}/firmware/pru/PRU_RPMsg_Echo_Interrupt0_1.out"
 ALTERNATIVE_TARGET_pru-icss-rpmsg-echo[am65x-pru1_0-fw] = "${base_libdir}/firmware/pru/PRU_RPMsg_Echo_Interrupt1_0.out"