realsenseai · ymodlin · Feb 5, 2026 · Feb 5, 2026
diff --git a/README.md b/README.md
@@ -12,7 +12,7 @@
 # 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: 6.2, 6.1, 6.0, 5.1.2, 5.0.2, 4.6.1)
+* NVIDIA® Jetson platform (Currently Supported JetPack versions are: 6.2.1, 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)

diff --git a/README_JP6.2.md b/README_JP6.2.md
@@ -4,6 +4,7 @@
 The 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:
+    - [6.2.1 production release](https://developer.nvidia.com/embedded/jetpack-sdk-621)
     - [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)

diff --git a/apply_patches.sh b/apply_patches.sh
@@ -53,6 +53,12 @@ if [[ "$ACTION" == reset && -d "sources_$SOURCES_VERSION/hardware/nvidia/platfor
     rm -rfv "sources_$SOURCES_VERSION/hardware/nvidia/platform/t19x/galen-industrial" > /dev/null
 fi
 
+# Create nvethernetrm symlink for JP 6.x (moved from source_sync_6.x.sh)
+# JP 5.x handles nvethernetrm differently (full path clone, not a symlink)
+if [[ "$ACTION" == reset ]] && [[ "$JETPACK_VERSION" =~ ^6\. ]]; then
+    ln -sf ../../../../../../nvethernetrm "sources_$SOURCES_VERSION/nvidia-oot/drivers/net/ethernet/nvidia/nvethernet/nvethernetrm"
+fi
+
 apply_external_patches() {
     git -C "sources_$SOURCES_VERSION/$3" status > /dev/null
     if [[ "$1" == 'apply' ]]; then
@@ -62,14 +68,24 @@ apply_external_patches() {
         fi
         ls -Ld "${PWD}/$3/$2"
         ls -Lw1 "${PWD}/$3/$2"
+        # Store the original commit hash before applying patches
+        ORIGINAL_COMMIT=$(git -C "sources_$SOURCES_VERSION/$3" rev-parse HEAD)
+        echo "$ORIGINAL_COMMIT" > "sources_$SOURCES_VERSION/$3/.realsense_patch_base"
         git -C "sources_$SOURCES_VERSION/$3" apply "${PWD}/$3/$2"/*
     elif [ "$1" = "reset" ]; then
         if ! git -C "sources_$SOURCES_VERSION/$3" diff --quiet || ! git -C "sources_$SOURCES_VERSION/$3" diff --cached --quiet; then
             read -p "Repo sources_$SOURCES_VERSION/$3 has changes that will be hard reset. Continue (y/N)? " confirm
             [[ "$confirm" != "y" && "$confirm" != "Y" ]] && exit 1
         fi
         echo -n "$(ls -d "sources_$SOURCES_VERSION/$3"): "
-        git -C "sources_$SOURCES_VERSION/$3" reset --hard $4
+        # Reset to original commit if .realsense_patch_base exists, otherwise use L4T_VERSION
+        if [[ -f "sources_$SOURCES_VERSION/$3/.realsense_patch_base" ]]; then
+            RESET_TARGET=$(cat "sources_$SOURCES_VERSION/$3/.realsense_patch_base")
+            git -C "sources_$SOURCES_VERSION/$3" reset --hard "$RESET_TARGET"
+            rm -f "sources_$SOURCES_VERSION/$3/.realsense_patch_base"
+        else
+            git -C "sources_$SOURCES_VERSION/$3" reset --hard $4
+        fi
     fi
 }
 
@@ -91,4 +107,41 @@ if [[ "$ACTION" = "apply" ]]; then
     else
         cp "hardware/realsense/${JP5_D4XX_DTSI}" "sources_$SOURCES_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts/common/tegra194-camera-d4xx.dtsi"
     fi
+
+    # Stage all modified files after patching
+    git -C "sources_$SOURCES_VERSION/$D4XX_SRC_DST" add -A
+    [[ -d "sources_$SOURCES_VERSION/$KERNEL_DIR" ]] && git -C "sources_$SOURCES_VERSION/$KERNEL_DIR" add -A
+    if [[ -d "sources_$SOURCES_VERSION/hardware/nvidia/t23x/nv-public" ]]; then
+        git -C "sources_$SOURCES_VERSION/hardware/nvidia/t23x/nv-public" add -A
+    elif [[ -d "sources_$SOURCES_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts" ]]; then
+        git -C "sources_$SOURCES_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts" add -A
+    fi
+
+    # Get author identity from root repo
+    GIT_AUTHOR_NAME=$(git config user.name)
+    GIT_AUTHOR_EMAIL=$(git config user.email)
+
+    # Update local git identity for subrepos
+    git -C "sources_$SOURCES_VERSION/$D4XX_SRC_DST" config user.name "$GIT_AUTHOR_NAME"
+    git -C "sources_$SOURCES_VERSION/$D4XX_SRC_DST" config user.email "$GIT_AUTHOR_EMAIL"
+    if [[ -d "sources_$SOURCES_VERSION/$KERNEL_DIR" ]]; then
+        git -C "sources_$SOURCES_VERSION/$KERNEL_DIR" config user.name "$GIT_AUTHOR_NAME"
+        git -C "sources_$SOURCES_VERSION/$KERNEL_DIR" config user.email "$GIT_AUTHOR_EMAIL"
+    fi
+    if [[ -d "sources_$SOURCES_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts" ]]; then
+        git -C "sources_$SOURCES_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts" config user.name "$GIT_AUTHOR_NAME"
+        git -C "sources_$SOURCES_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts" config user.email "$GIT_AUTHOR_EMAIL"
+    elif [[ -d "sources_$SOURCES_VERSION/hardware/nvidia/t23x/nv-public" ]]; then
+        git -C "sources_$SOURCES_VERSION/hardware/nvidia/t23x/nv-public" config user.name "$GIT_AUTHOR_NAME"
+        git -C "sources_$SOURCES_VERSION/hardware/nvidia/t23x/nv-public" config user.email "$GIT_AUTHOR_EMAIL"
+    fi
+
+    # Commit all staged files
+    git -C "sources_$SOURCES_VERSION/$D4XX_SRC_DST" commit -m "RS patched" || true
+    [[ -d "sources_$SOURCES_VERSION/$KERNEL_DIR" ]] && git -C "sources_$SOURCES_VERSION/$KERNEL_DIR" commit -m "RS patched" || true
+    if [[ -d "sources_$SOURCES_VERSION/hardware/nvidia/t23x/nv-public" ]]; then
+        git -C "sources_$SOURCES_VERSION/hardware/nvidia/t23x/nv-public" commit -m "RS patched" || true
+    elif [[ -d "sources_$SOURCES_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts" ]]; then
+        git -C "sources_$SOURCES_VERSION/hardware/nvidia/platform/t19x/galen/kernel-dts" commit -m "RS patched" || true
+    fi
 fi
diff --git a/build_all.sh b/build_all.sh
@@ -3,16 +3,31 @@
 set -e
 
 if [[ $# < 1 || "$1" == "-h" ]]; then
-    echo "build_all.sh [--dev-dbg] JetPack_version [JetPack_Linux_source]"
+    echo "build_all.sh [--clean] [--dev-dbg] JetPack_version [JetPack_Linux_source]"
     echo "build_all.sh -h"
     exit 1
 fi
 
+CLEAN=0
 DEVDBG=0
-if [[ "$1" == "--dev-dbg" ]]; then
-    DEVDBG=1
-    shift
-fi
+
+# Parse optional flags
+while [[ "$1" == --* ]]; do
+    case "$1" in
+        --clean)
+            CLEAN=1
+            shift
+            ;;
+        --dev-dbg)
+            DEVDBG=1
+            shift
+            ;;
+        *)
+            echo "Unknown option: $1"
+            exit 1
+            ;;
+    esac
+done
 
 export DEVDIR=$(cd `dirname $0` && pwd)
 NPROC=$(nproc)
@@ -40,6 +55,14 @@ fi
 
 export LOCALVERSION=-tegra
 export TEGRA_KERNEL_OUT="$DEVDIR/images/$1"
+
+# Clean if requested
+if [[ $CLEAN == 1 ]]; then
+    echo "Cleaning build artifacts for $1..."
+    rm -rf $TEGRA_KERNEL_OUT
+    rm -rf $SRCS/out
+fi
+
 mkdir -p $TEGRA_KERNEL_OUT
 export KERNEL_MODULES_OUT=$TEGRA_KERNEL_OUT/modules
 
@@ -87,16 +110,16 @@ if [[ "$JETPACK_VERSION" == "6.x" ]]; then
     KERNELVERSION=$(cat $KERNEL_HEADERS/include/config/kernel.release)
     KERNEL_MODULES_OUT=$INSTALL_MOD_PATH/lib/modules/${KERNELVERSION}
     mkdir -p $KERNEL_MODULES_OUT/extra
-    cp $KERNEL_MODULES_OUT/kernel/drivers/iio/buffer/kfifo_buf.ko $KERNEL_MODULES_OUT/extra/
-    cp $KERNEL_MODULES_OUT/kernel/drivers/iio/buffer/industrialio-triggered-buffer.ko $KERNEL_MODULES_OUT/extra/
-    cp $KERNEL_MODULES_OUT/kernel/drivers/iio/common/hid-sensors/hid-sensor-iio-common.ko $KERNEL_MODULES_OUT/extra/
-    cp $KERNEL_MODULES_OUT/kernel/drivers/hid/hid-sensor-hub.ko $KERNEL_MODULES_OUT/extra/
-    cp $KERNEL_MODULES_OUT/kernel/drivers/iio/accel/hid-sensor-accel-3d.ko $KERNEL_MODULES_OUT/extra/
-    cp $KERNEL_MODULES_OUT/kernel/drivers/iio/gyro/hid-sensor-gyro-3d.ko $KERNEL_MODULES_OUT/extra/
-    cp $KERNEL_MODULES_OUT/kernel/drivers/iio/common/hid-sensors/hid-sensor-trigger.ko $KERNEL_MODULES_OUT/extra/
+    cp $KERNEL_MODULES_OUT/kernel/drivers/iio/buffer/kfifo_buf.ko $KERNEL_MODULES_OUT/extra/ || true
+    cp $KERNEL_MODULES_OUT/kernel/drivers/iio/buffer/industrialio-triggered-buffer.ko $KERNEL_MODULES_OUT/extra/ || true
+    cp $KERNEL_MODULES_OUT/kernel/drivers/iio/common/hid-sensors/hid-sensor-iio-common.ko $KERNEL_MODULES_OUT/extra/ || true
+    cp $KERNEL_MODULES_OUT/kernel/drivers/hid/hid-sensor-hub.ko $KERNEL_MODULES_OUT/extra/ || true
+    cp $KERNEL_MODULES_OUT/kernel/drivers/iio/accel/hid-sensor-accel-3d.ko $KERNEL_MODULES_OUT/extra/ || true
+    cp $KERNEL_MODULES_OUT/kernel/drivers/iio/gyro/hid-sensor-gyro-3d.ko $KERNEL_MODULES_OUT/extra/ || true
+    cp $KERNEL_MODULES_OUT/kernel/drivers/iio/common/hid-sensors/hid-sensor-trigger.ko $KERNEL_MODULES_OUT/extra/ || true
     # RealSense cameras support
-    cp $KERNEL_MODULES_OUT/kernel/drivers/media/usb/uvc/uvcvideo.ko $KERNEL_MODULES_OUT/extra/
-    cp $KERNEL_MODULES_OUT/kernel/drivers/media/v4l2-core/videodev.ko $KERNEL_MODULES_OUT/extra/
+    cp $KERNEL_MODULES_OUT/kernel/drivers/media/usb/uvc/uvcvideo.ko $KERNEL_MODULES_OUT/extra/ || true
+    cp $KERNEL_MODULES_OUT/kernel/drivers/media/v4l2-core/videodev.ko $KERNEL_MODULES_OUT/extra/ || true
 else
 #jp4/5
     cd $SRCS/$KERNEL_DIR

diff --git a/kernel/kernel-jammy-src/6.2.1/0001-kernel-enable-HID_SENSOR-without-USB-impact.patch b/kernel/kernel-jammy-src/6.2.1/0001-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
+