realsenseai · ymodlin · Aug 4, 2025 · Jul 22, 2025 · Jul 23, 2025 · Jul 23, 2025
diff --git a/README.md b/README.md
@@ -3,7 +3,7 @@
 # D457 MIPI on NVIDIA® Jetson AGX Xavier™ and AGX Orin™
 The RealSense™ MIPI platform driver enables the user to control and stream RealSense™ 3D MIPI cameras.
 The system shall include:
-* NVIDIA® Jetson platform (Currently Supported JetPack versions are: 6.0, 5.1.2, 5.0.2, 4.6.1)
+* NVIDIA® Jetson platform (Currently Supported JetPack versions are: 6.2, 6.1, 6.0, 5.1.2, 5.0.2, 4.6.1)
 * RealSense De-Serialize board (https://store.intelrealsense.com/buy-intel-realsense-des457.html)
 * NVIDIA® Jetson AGX Orin™ Passive adapter board from [Leopard Imaging LI-JTX1-SUB-ADPT](https://leopardimaging.com/product/accessories/adapters-carrier-boards/for-nvidia-jetson/li-jtx1-sub-adpt/)
 * RS MIPI camera (e.g. https://store.intelrealsense.com/buy-intel-realsense-depth-camera-d457.html)
@@ -15,7 +15,7 @@ The system shall include:
 
 # Documentation
 
-- NVIDIA® Jetson AGX Orin™ board setup - AGX Orin™ [JetPack 6.0](./README_JP6.md) setup guide
+- NVIDIA® Jetson AGX Orin™ board setup - AGX Orin™ [JetPack 6.x](./README_JP6.md) setup guide
 - NVIDIA® Jetson AGX Xavier™ board setup - AGX Xavier™ [JetPack 5.x.2](./README_JP5.md) setup guide
 - NVIDIA® Jetson AGX Xavier™ board setup - AGX Xavier™ [JetPack 4.6.1](./README_JP4.md) setup guide
 - Build Tools manual page [Build Manual page](./README_tools.md)
@@ -29,7 +29,7 @@ Please follow the [instruction](https://docs.nvidia.com/sdk-manager/install-with
 
 # JetPack build
 
-- [JetPack 6.0](./README_JP6.md#build-environment-prerequisites)
+- [JetPack 6.x](./README_JP6.md#build-environment-prerequisites)
 - [JetPack 5.1.2](./README_JP5.md#build-kernel-dtb-and-d457-driver)
 - [JetPack 5.0.2](./README_JP5.md#build-kernel-dtb-and-d457-driver)
 - [JetPack 4.6.1](./README_JP4.md#build-kernel-dtb-and-d457-driver)

diff --git a/README_JP6.md b/README_JP6.md
@@ -1,9 +1,12 @@
 # Intel® RealSense™ camera driver for GMSL* interface
 
-# D457 MIPI on NVIDIA® Jetson AGX Orin™ JetPack 6.0 
+# D457 MIPI on NVIDIA® Jetson AGX Orin™ JetPack 6.x 
 The Intel® RealSense™ MIPI platform driver enables the user to control and stream RealSense™ 3D MIPI cameras.
 The system shall include:
-* NVIDIA® Jetson™ platform Supported JetPack versions are: [6.0 production release](https://developer.nvidia.com/embedded/jetpack-sdk-60)
+* NVIDIA® Jetson™ platform Supported JetPack versions are:
+    [6.2 production release](https://developer.nvidia.com/embedded/jetpack-sdk-62)
+    [6.1 production release](https://developer.nvidia.com/embedded/jetpack-sdk-61)
+    [6.0 production release](https://developer.nvidia.com/embedded/jetpack-sdk-60)
 * RealSense™ [De-Serialize board](https://store.intelrealsense.com/buy-intel-realsense-des457.html)
 * Jetson AGX Orin™ Passive adapter board from [Leopard Imaging® LI-JTX1-SUB-ADPT](https://leopardimaging.com/product/accessories/adapters-carrier-boards/for-nvidia-jetson/li-jtx1-sub-adpt/)
 * RS MIPI camera [D457](https://store.intelrealsense.com/buy-intel-realsense-depth-camera-d457.html)
@@ -15,7 +18,7 @@ The system shall include:
 
 ### Links
 - Intel® RealSense™ camera driver for GMSL* interface [Front Page](./README.md)
-- NVIDIA® Jetson AGX Orin™ board setup - AGX Orin™ [JetPack 6.0](./README_JP6.md) setup guide
+- NVIDIA® Jetson AGX Orin™ board setup - AGX Orin™ [JetPack 6.x](./README_JP6.md) setup guide
 - NVIDIA® Jetson AGX Xavier™ board setup - AGX Xavier™ [JetPack 5.x.2](./README_JP5.md) setup guide
 - NVIDIA® Jetson AGX Xavier™ board setup - AGX Xavier™ [JetPack 4.6.1](./README_JP4.md) setup guide
 - Build Tools manual page [Build Manual page](./README_tools.md)
@@ -43,13 +46,13 @@ sudo apt-get install -y build-essential bc wget flex bison curl libssl-dev xxd
 ```
 git clone https://github.com/IntelRealSense/realsense_mipi_platform_driver.git
 cd realsense_mipi_platform_driver
-./setup_workspace.sh 6.0
-./apply_patches.sh apply 6.0
-./build_all.sh 6.0
+./setup_workspace.sh 6.2
+./apply_patches.sh apply 6.2
+./build_all.sh 6.2
 ```
 Note: dev_dbg() log support will not be enabled by default. If needed, run the `./build_all.sh` script with `--dev-dbg` option like below.
 ```
-./build_all.sh --dev-dbg 6.0
+./build_all.sh --dev-dbg 6.2
 ```
 
 
@@ -65,9 +68,9 @@ Note: dev_dbg() log support will not be enabled by default. If needed, run the `
 6. Configure target.
 
 ```
-# JetPack 6.0
-mkdir -p l4t-gcc/6.0
-cd ./l4t-gcc/6.0
+# JetPack 6.x
+mkdir -p l4t-gcc/6.x
+cd ./l4t-gcc/6.x
 wget https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v3.0/toolchain/aarch64--glibc--stable-2022.08-1.tar.bz2 -O aarch64--glibc--stable-final.tar.bz2
 tar xf aarch64--glibc--stable-final.tar.bz2 --strip-components 1
 cd ../..
@@ -79,33 +82,33 @@ tar xjf kernel_oot_modules_src.tbz2
 tar xjf nvidia_kernel_display_driver_source.tbz2
 cd ../..
 
-./apply_patches_ext.sh ./Linux_for_Tegra/source 6.0
+./apply_patches_ext.sh ./Linux_for_Tegra/source 6.2
 
 # build kernel, dtb and D457 driver
-./build_all.sh 6.0 ./Linux_for_Tegra/source
+./build_all.sh 6.2 ./Linux_for_Tegra/source
 ```
 Note: dev_dbg() log support will not be enabled by default. If needed, run the `./build_all.sh` script with `--dev-dbg` option like below.
 ```
-./build_all.sh --dev-dbg 6.0 ./Linux_for_Tegra/source
+./build_all.sh --dev-dbg 6.2 ./Linux_for_Tegra/source
 ```
 
-## Archive JetPack 6.0 build results (optional) on build host
-- kernel image : `images/6.0/rootfs/boot/Image`
-- dtb: `images/6.0/rootfs/boot/dtb/tegra234-p3737-0000+p3701-0000-nv.dtb`
-- dtb overlay: `images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay.dtbo`
-- dtb dual camera overlay: `images/6.0/rootfs/boot/tegra234-camera-d4xx-overlay-dual.dtbo`
-- nvidia-oot modules: `images/6.0/rootfs/lib/modules/5.15.136-tegra/updates`
-- kernel modules: `images/6.0/rootfs/lib/modules/5.15.136-tegra/extra`
+## Archive JetPack 6.x build results (optional) on build host
+- kernel image : `images/6.x/rootfs/boot/Image`
+- dtb: `images/6.x/rootfs/boot/dtb/tegra234-p3737-0000+p3701-0000-nv.dtb`
+- dtb overlay: `images/6.x/rootfs/boot/tegra234-camera-d4xx-overlay.dtbo`
+- dtb dual camera overlay: `images/6.x/rootfs/boot/tegra234-camera-d4xx-overlay-dual.dtbo`
+- nvidia-oot modules: `images/6.x/rootfs/lib/modules/5.15.136-tegra/updates`
+- kernel modules: `images/6.x/rootfs/lib/modules/5.15.136-tegra/extra`
 
 ```
 echo "Archiving boot configuration build results"
-tar -czf ./images/6.0/boot-config.tar.gz -C "./images/6.0/rootfs/" ./boot
+tar -czf ./images/6.x/boot-config.tar.gz -C "./images/6.x/rootfs/" ./boot
 echo "Archiving nvidia-oot modules"
-tar -czf ./images/6.0/nvidia-oot-modules.tar.gz -C "./images/6.0/rootfs/" ./lib/modules/5.15.136-tegra/updates
+tar -czf ./images/6.x/nvidia-oot-modules.tar.gz -C "./images/6.x/rootfs/" ./lib/modules/5.15.136-tegra/updates
 echo "Archiving kernel HID modules"
-tar -czf ./images/6.0/kernel-hid-modules.tar.gz -C "./images/6.0/rootfs/" ./lib/modules/5.15.136-tegra/extra
+tar -czf ./images/6.x/kernel-hid-modules.tar.gz -C "./images/6.x/rootfs/" ./lib/modules/5.15.136-tegra/extra
 ```
-## Backup JetPack 6.0 boot configuration and drivers (optional)
+## Backup JetPack 6.x boot configuration and drivers (optional)
 ```
 echo "Backup boot configuration"
 sudo cp /boot/tegra234-p3737-0000+p3701-0000-nv.dtb /boot/tegra234-p3737-0000+p3701-0000-nv-bkp.dtb
@@ -121,13 +124,13 @@ sudo tar -czf /lib/modules/$(uname -r)/updates.tar.gz -C /lib/modules/$(uname -r
 
 Following steps required:
 
-1.	Copy entire directory `images/6.0/rootfs/lib/modules/5.15.136-tegra/updates` from host to `/lib/modules/5.15.136-tegra/` on Orin target
-2.	Copy entire directory `images/6.0/rootfs/lib/modules/5.15.136-tegra/extra` from host to `/lib/modules/5.15.136-tegra/` on Orin target
+1.	Copy entire directory `images/6.x/rootfs/lib/modules/5.15.136-tegra/updates` from host to `/lib/modules/5.15.136-tegra/` on Orin target
+2.	Copy entire directory `images/6.x/rootfs/lib/modules/5.15.136-tegra/extra` from host to `/lib/modules/5.15.136-tegra/` on Orin target
 3.	Copy `tegra234-camera-d4xx-overlay.dtbo` from host to `/boot/tegra234-camera-d4xx-overlay.dtbo` on Orin target
 4.	For dual camera, copy `tegra234-camera-d4xx-overlay-dual.dtbo` from host to `/boot/tegra234-camera-d4xx-overlay-dual.dtbo` on Orin target
 5.  Copy `tegra234-p3737-0000+p3701-0000-nv.dtb` from host to `/boot/` on Orin
 6.  Copy `Image` from host to `/boot/` on Orin
-7.  Copy entire directory `images/6.0/rootfs/lib/modules/5.15.136-tegra/kernel` from host to `/lib/modules/5.15.136-tegra/` on Orin target
+7.  Copy entire directory `images/6.x/rootfs/lib/modules/5.15.136-tegra/kernel` from host to `/lib/modules/5.15.136-tegra/` on Orin target
 8.	Run  $ `sudo /opt/nvidia/jetson-io/jetson-io.py`
     1.	Configure Jetson AGX CSI Connector
     2.	Configure for compatible hardware
@@ -163,13 +166,13 @@ Assuming Jetson has ip: `10.0.0.116`
 
 ```
 # Configuration files
-scp -r images/6.0/rootfs/boot nvidia@10.0.0.116:~/
+scp -r images/6.x/rootfs/boot nvidia@10.0.0.116:~/
 # RealSense support for NVIDIA Tegra
-scp -r images/6.0/rootfs/lib/modules/5.15.136-tegra/updates nvidia@10.0.0.116:~/
+scp -r images/6.x/rootfs/lib/modules/5.15.136-tegra/updates nvidia@10.0.0.116:~/
 # RealSense metadata patched kernel modules and IMU HID support
-scp -r images/6.0/rootfs/lib/modules/5.15.136-tegra/extra nvidia@10.0.0.116:~/
+scp -r images/6.x/rootfs/lib/modules/5.15.136-tegra/extra nvidia@10.0.0.116:~/
 # Updated kernel modules to match the new compiled kernel image
-scp -r images/6.0/rootfs/lib/modules/5.15.136-tegra/kernel nvidia@10.0.0.116:~/
+scp -r images/6.x/rootfs/lib/modules/5.15.136-tegra/kernel nvidia@10.0.0.116:~/
 ```
 
 On Jetson target, assuming backup step was followed:

diff --git a/apply_patches.sh b/apply_patches.sh
@@ -31,45 +31,60 @@ cd "$DEVDIR"
 if [[ "$JETPACK_VERSION" == "4.6.1" ]]; then
     JP5_D4XX_DTSI="tegra194-camera-d4xx.dtsi"
 fi
-if [[ "$JETPACK_VERSION" == "6.0" ]]; then
+if [[ "$JETPACK_VERSION" == "6.x" ]]; then
     D4XX_SRC_DST=nvidia-oot
 else
     D4XX_SRC_DST=kernel/nvidia
 fi
+
 # NVIDIA SDK Manager's JetPack 4.6.1 source_sync.sh doesn't set the right folder name, it mismatches with the direct tar
 # package source code. Correct the folder name.
-if [ -d sources_$JETPACK_VERSION/hardware/nvidia/platform/t19x/galen-industrial-dts ]; then
+if [[ $1 == apply && -d sources_$JETPACK_VERSION/hardware/nvidia/platform/t19x/galen-industrial-dts ]]; then
     mv sources_$JETPACK_VERSION/hardware/nvidia/platform/t19x/galen-industrial-dts sources_$JETPACK_VERSION/hardware/nvidia/platform/t19x/galen-industrial
 fi
+if [[ $1 == reset && -d sources_$JETPACK_VERSION/hardware/nvidia/platform/t19x/galen-industrial ]]; then
+    rm -rfv sources_$JETPACK_VERSION/hardware/nvidia/platform/t19x/galen-industrial > /dev/null
+fi
 
 apply_external_patches() {
     if [ $1 = 'apply' ]; then
-        git -C sources_$JETPACK_VERSION/$2 am ${PWD}/$2/$JETPACK_VERSION/*
+        ls -Ld sources_$JETPACK_VERSION/$3
+        ls -Lw1 ${PWD}/$3/$2
+        git -C sources_$JETPACK_VERSION/$3 apply ${PWD}/$3/$2/*
     elif [ $1 = 'reset' ]; then
-        git -C sources_$JETPACK_VERSION/$2 reset --hard $L4T_VERSION
+        if [[ -n $(git -C sources_$JETPACK_VERSION/$3 diff --quiet) || -n $(git -C sources_$JETPACK_VERSION/$3 diff --cached --quiet) ]]; then
+            read -p "Repo sources_$JETPACK_VERSION/$3 has changes that will be hard reset. Continue? (y/N): " confirm
+            if [[ ! "$confirm" == "y" && ! "$confirm" == "Y" ]]; then
+                exit 1
+            fi
+        fi
+        echo -n $(ls -d sources_$JETPACK_VERSION/$3):\ 
+            git -C sources_$JETPACK_VERSION/$3 reset --hard $4
     fi
 }
 
-apply_external_patches $1 $D4XX_SRC_DST
+apply_external_patches $1 $2 $D4XX_SRC_DST $L4T_VERSION
 
-if [ -d ${KERNEL_DIR}/${JETPACK_VERSION} ]; then
-    apply_external_patches $1 $KERNEL_DIR
+if [ -d sources_$JETPACK_VERSION/$KERNEL_DIR ]; then
+    apply_external_patches $1 $2 $KERNEL_DIR $L4T_VERSION
 fi
 
-if [[ "$JETPACK_VERSION" == "6.0" ]]; then
-    apply_external_patches $1 hardware/nvidia/t23x/nv-public
+if [[ "$JETPACK_VERSION" == "6.x" ]]; then
+    apply_external_patches $1 $JETPACK_VERSION hardware/nvidia/t23x/nv-public $L4T_VERSION
 else
-    apply_external_patches $1 hardware/nvidia/platform/t19x/galen/kernel-dts
+    apply_external_patches $1 $2 hardware/nvidia/platform/t19x/galen/kernel-dts $L4T_VERSION
 fi
 
 if [ $1 = 'apply' ]; then
     cp $DEVDIR/kernel/realsense/d4xx.c $DEVDIR/sources_$JETPACK_VERSION/${D4XX_SRC_DST}/drivers/media/i2c/
-    if [[ "$JETPACK_VERSION" == "6.0" ]]; then
+    if [[ "$JETPACK_VERSION" == "6.x" ]]; then
         # jp6 overlay
         cp $DEVDIR/hardware/realsense/tegra234-camera-d4xx-overlay*.dts $DEVDIR/sources_$JETPACK_VERSION/hardware/nvidia/t23x/nv-public/overlay/
     else
         cp $DEVDIR/hardware/realsense/$JP5_D4XX_DTSI $DEVDIR/sources_$JETPACK_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts/common/tegra194-camera-d4xx.dtsi
     fi
 elif [ $1 = 'reset' ]; then
     [[ -f $DEVDIR/sources_$JETPACK_VERSION/${D4XX_SRC_DST}/drivers/media/i2c/d4xx.c ]] && rm $DEVDIR/sources_$JETPACK_VERSION/${D4XX_SRC_DST}/drivers/media/i2c/d4xx.c
+    [[ -f $DEVDIR/sources_$JETPACK_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts/common/tegra194-camera-d4xx.dtsi ]] && rm $DEVDIR/sources_$JETPACK_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts/common/tegra194-camera-d4xx.dtsi
+    true
 fi
diff --git a/apply_patches_ext.sh b/apply_patches_ext.sh
@@ -4,7 +4,7 @@
 set -e
 
 if [[ $# < 1 ]]; then
-    echo "apply_patches_ext.sh [--one-cam | --dual-cam] source_dir [JetPack_version]"
+    echo "apply_patches_ext.sh [--one-cam | --dual-cam] [JetPack_version]"
     exit 1
 fi
 
@@ -23,44 +23,48 @@ fi
 
 DEVDIR=$(cd `dirname $0` && pwd)
 
-. $DEVDIR/scripts/setup-common "$2"
+. $DEVDIR/scripts/setup-common "$1"
 
 cd "$DEVDIR"
 
 # set JP4 devicetree
 if [[ "$JETPACK_VERSION" == "4.6.1" ]]; then
     JP5_D4XX_DTSI="tegra194-camera-d4xx.dtsi"
 fi
-if [[ "$JETPACK_VERSION" == "6.0" ]]; then
+if [[ "$JETPACK_VERSION" == "6.x" ]]; then
     D4XX_SRC_DST=nvidia-oot
 else
     D4XX_SRC_DST=kernel/nvidia
 fi
 # NVIDIA SDK Manager's JetPack 4.6.1 source_sync.sh doesn't set the right folder name, it mismatches with the direct tar
 # package source code. Correct the folder name.
-if [ -d $1/hardware/nvidia/platform/t19x/galen-industrial-dts ]; then
-    mv $1/hardware/nvidia/platform/t19x/galen-industrial-dts $1/hardware/nvidia/platform/t19x/galen-industrial
+if [ -d $JETPACK_VERSION/hardware/nvidia/platform/t19x/galen-industrial-dts ]; then
+    mv $1/hardware/nvidia/platform/t19x/galen-industrial-dts $JETPACK_VERSION/hardware/nvidia/platform/t19x/galen-industrial
 fi
 
 apply_external_patches() {
-    cat ${PWD}/$2/$JETPACK_VERSION/* | patch -p1 --directory=${PWD}/$1/$2/
+    ls -Ld ${PWD}/$2/$1
+    ls -Lw1 ${PWD}/$2/$1
+    cat ${PWD}/$2/$1/* | patch --quiet -p1 --directory=${PWD}/sources_$JETPACK_VERSION/$2
 }
 
 apply_external_patches $1 $D4XX_SRC_DST
-if [ -d ${KERNEL_DIR}/${JETPACK_VERSION} ]; then
+
+if [ -d sources_$JETPACK_VERSION/$KERNEL_DIR ]; then
     apply_external_patches $1 $KERNEL_DIR
 fi
-if [[ "$JETPACK_VERSION" == "6.0" ]]; then
-    apply_external_patches $1 hardware/nvidia/t23x/nv-public
+
+if [[ "$JETPACK_VERSION" == "6.x" ]]; then
+    apply_external_patches $JETPACK_VERSION hardware/nvidia/t23x/nv-public
 else
     apply_external_patches $1 hardware/nvidia/platform/t19x/galen/kernel-dts
 fi
 
 # For a common driver for JP4 + JP5 we override the i2c driver and ignore the previous that was created from patches
-cp $DEVDIR/kernel/realsense/d4xx.c $DEVDIR/$1/${D4XX_SRC_DST}/drivers/media/i2c/
-if [[ "$JETPACK_VERSION" == "6.0" ]]; then
+cp $DEVDIR/kernel/realsense/d4xx.c $DEVDIR/sources_$JETPACK_VERSION/${D4XX_SRC_DST}/drivers/media/i2c/
+if [[ "$JETPACK_VERSION" == "6.x" ]]; then
     # jp6 overlay
-    cp $DEVDIR/hardware/realsense/tegra234-camera-d4xx-overlay*.dts $DEVDIR/$1/hardware/nvidia/t23x/nv-public/overlay/
+    cp $DEVDIR/hardware/realsense/tegra234-camera-d4xx-overlay*.dts $DEVDIR/sources_$JETPACK_VERSION/hardware/nvidia/t23x/nv-public/overlay/
 else
-    cp $DEVDIR/hardware/realsense/$JP5_D4XX_DTSI $DEVDIR/$1/hardware/nvidia/platform/t19x/galen/kernel-dts/common/tegra194-camera-d4xx.dtsi
+    cp $DEVDIR/hardware/realsense/$JP5_D4XX_DTSI $DEVDIR/sources_$JETPACK_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts/common/tegra194-camera-d4xx.dtsi
 fi
diff --git a/build_all.sh b/build_all.sh
@@ -24,15 +24,20 @@ if [[ -n "$2" ]]; then
     SRCS=$(realpath $2)
 fi
 
-if [[ "$JETPACK_VERSION" == "6.0" ]]; then
-    export CROSS_COMPILE=$DEVDIR/l4t-gcc/$JETPACK_VERSION/bin/aarch64-buildroot-linux-gnu-
-elif [[ "$JETPACK_VERSION" == "5.1.2" ]]; then
-    export CROSS_COMPILE=$DEVDIR/l4t-gcc/$JETPACK_VERSION/bin/aarch64-buildroot-linux-gnu-
-elif [[ "$JETPACK_VERSION" == "5.0.2" ]]; then
-    export CROSS_COMPILE=$DEVDIR/l4t-gcc/$JETPACK_VERSION/bin/aarch64-buildroot-linux-gnu-
-elif [[ "$JETPACK_VERSION" == "4.6.1" ]]; then
-    export CROSS_COMPILE=$DEVDIR/l4t-gcc/$JETPACK_VERSION/bin/aarch64-linux-gnu-
+if [[ $(uname -m) == aarch64 ]]; then
+    echo
+    echo Native build
+    echo
+else
+    if [[ "$JETPACK_VERSION" == "6.x" ]]; then
+        export CROSS_COMPILE=$DEVDIR/l4t-gcc/$JETPACK_VERSION/bin/aarch64-buildroot-linux-gnu-
+    elif [[ "$JETPACK_VERSION" == "5.x" ]]; then
+        export CROSS_COMPILE=$DEVDIR/l4t-gcc/$JETPACK_VERSION/bin/aarch64-buildroot-linux-gnu-
+    elif [[ "$JETPACK_VERSION" == "4.6.1" ]]; then
+        export CROSS_COMPILE=$DEVDIR/l4t-gcc/$JETPACK_VERSION/bin/aarch64-linux-gnu-
+    fi
 fi
+
 export LOCALVERSION=-tegra
 export TEGRA_KERNEL_OUT=$DEVDIR/images/$JETPACK_VERSION
 mkdir -p $TEGRA_KERNEL_OUT
@@ -44,7 +49,7 @@ export KERNEL_MODULES_OUT=$TEGRA_KERNEL_OUT/modules
 # Build jp6 out-of-tree modules
 # following: 
 # https://docs.nvidia.com/jetson/archives/r36.2/DeveloperGuide/SD/Kernel/KernelCustomization.html#building-the-jetson-linux-kernel
-if [[ "$JETPACK_VERSION" == "6.0" ]]; then
+if [[ "$JETPACK_VERSION" == "6.x" ]]; then
     cd $SRCS
     export KERNEL_HEADERS=$SRCS/kernel/kernel-jammy-src
     ln -sf $TEGRA_KERNEL_OUT $SRCS/out

diff --git a/...lay-enable-d4xx-camera-for-Orin-jp6.patch → ...lay-enable-d4xx-camera-for-Orin-jp6.patch b/...lay-enable-d4xx-camera-for-Orin-jp6.patch → ...lay-enable-d4xx-camera-for-Orin-jp6.patch
diff --git a/kernel/kernel-jammy-src/6.1 b/kernel/kernel-jammy-src/6.1
@@ -0,0 +1 @@
+6.2
diff --git a/kernel/kernel-jammy-src/6.2/0001-kernel-enable-HID_SENSOR-without-USB-impact.patch b/kernel/kernel-jammy-src/6.2/0001-kernel-enable-HID_SENSOR-without-USB-impact.patch
@@ -0,0 +1,47 @@
+From a28c524638e88665f3757002703a7add3e95643b Mon Sep 17 00:00:00 2001
+From: ejgoldik <ehud.joseph.goldik@intel.com>
+Date: Sun, 8 Jun 2025 11:08:56 +0300
+Subject: [PATCH] kernel: enable HID_SENSOR without USB impact
+
+Signed-off-by: Ehud J. Goldik <ehud.joseph.goldik@intel.com>
+---
+ arch/arm64/configs/defconfig | 6 ++++++
+ 1 file changed, 6 insertions(+)
+
+diff --git a/arch/arm64/configs/defconfig b/arch/arm64/configs/defconfig
+index 57e2a364e..8fffc0a60 100644
+--- a/arch/arm64/configs/defconfig
++++ b/arch/arm64/configs/defconfig
+@@ -862,9 +862,11 @@ CONFIG_SND_SOC_LPASS_WSA_MACRO=m
+ CONFIG_SND_SOC_LPASS_VA_MACRO=m
+ CONFIG_SND_SIMPLE_CARD=m
+ CONFIG_SND_AUDIO_GRAPH_CARD=m
++CONFIG_HID=m
+ CONFIG_HIDRAW=y
+ CONFIG_UHID=m
+ CONFIG_HID_MULTITOUCH=m
++CONFIG_HID_SENSOR_HUB=m
+ CONFIG_I2C_HID_ACPI=m
+ CONFIG_I2C_HID_OF=m
+ CONFIG_USB=y
+@@ -1148,6 +1150,7 @@ CONFIG_EXTCON_USB_GPIO=y
+ CONFIG_EXTCON_USBC_CROS_EC=y
+ CONFIG_RENESAS_RPCIF=m
+ CONFIG_IIO=y
++CONFIG_HID_SENSOR_ACCEL_3D=m
+ CONFIG_BMI088_ACCEL=m
+ CONFIG_EXYNOS_ADC=y
+ CONFIG_MAX9611=m
+@@ -1155,6 +1158,9 @@ CONFIG_QCOM_SPMI_ADC5=m
+ CONFIG_ROCKCHIP_SARADC=m
+ CONFIG_IIO_CROS_EC_SENSORS_CORE=m
+ CONFIG_IIO_CROS_EC_SENSORS=m
++CONFIG_HID_SENSOR_IIO_COMMON=m
++CONFIG_HID_SENSOR_IIO_TRIGGER=m
++CONFIG_HID_SENSOR_GYRO_3D=m
+ CONFIG_BMG160=m
+ CONFIG_IIO_ST_LSM6DSX=m
+ CONFIG_IIO_CROS_EC_LIGHT_PROX=m
+-- 
+2.43.0
+