diff --git a/doc/installation_jetson.md b/doc/installation_jetson.md
index 458c2ecd6e6..72be4fcc00b 100644
--- a/doc/installation_jetson.md
+++ b/doc/installation_jetson.md
@@ -8,14 +8,13 @@
 
 ### 1. Prerequisites
 
-* NVIDIA® **Jetson Nano™**, **Jetson TX2™**, **Jetson AGX Xavier™** or **Jetson Orin™** board (may also work on other Jetson devices)
+* NVIDIA® **Jetson Nano™**, **Jetson TX2™**, **Jetson AGX Xavier™** or **Jetson AGX Orin™** board (may also work on other Jetson devices)
 * A supported RealSense Camera device
 
 ### 2. Establish Developer's Environment
 
 Follow [official instructions](https://developer.nvidia.com/embedded/learn/getting-started-jetson) to get your board ready. This guide will assume you are using **NVIDIA® L4T Ubuntu 18.04/20.04/22.04** image with kernels 4.9/5.10/5.15. Note that in most cases it is necessary to install a toll named "SDK Manager" to flash and install **Jetson** boards with both the L4T (Linux for Tegra) and NVIDIA-specific software packages (CUDA, Tensor Flow, AI, etc.)
 
-For **Jetson Orin™** with JetPack 6.0 you will need to follow build for MIPI driver as NVIDIA released Kernel 5.15 default configuration with disabled HID: [Intel® RealSense™ camera driver for GMSL* interface](https://github.com/IntelRealSense/realsense_mipi_platform_driver)
 
 For **Jetson Nano™** we strongly recommend enabling the Barrel Jack connector for extra power (See [jetsonhacks.com/jetson-nano-use-more-power/](https://www.jetsonhacks.com/2019/04/10/jetson-nano-use-more-power/) to learn how)
 
@@ -93,11 +92,11 @@ You can also double-TAB after typing `rs-` to see the full list of SDK examples.
 
 ⮕ Use the V4L Native backend by applying the kernel patching
 
-The method was verified with **Jetson AGX** boards with JetPack **4.4**[L4T 32.4.3], **4.6.1**[L4T 32.7.1] and **5.0.2**[L4T 35.1.0].
+The method was verified with **Jetson AGX Orin™** with JetPack 6.0, **Jetson AGX Xavier™** boards with JetPack **4.4**[L4T 32.4.3], **4.6.1**[L4T 32.7.1] and **5.0.2**[L4T 35.1.0].
 
-The method has not yet been verified on the **Jetson Nano** board.
+The method has not been verified on the **Jetson Nano™** board.
+For **Jetson Nano™** setup, please see the following user instructions [NVIDIA Jetson Nano with Intel RealSense Depth Camera Using ROS2 Humble | by Kabilankb | May, 2024 | Medium](https://medium.com/@kabilankb2003/nvidia-jetson-nano-with-intel-realsense-depth-camera-using-ros2-humble-c5926566a4d8)
 
-This method is incompatible for board **Jetson Orin™** with JetPack 6.0, checkout [Intel® RealSense™ camera driver for GMSL* interface](https://github.com/IntelRealSense/realsense_mipi_platform_driver)
 
 * **Prerequisite**
 
diff --git a/scripts/Tegra/source_sync_6.0.sh b/scripts/Tegra/source_sync_6.0.sh
new file mode 100755
index 00000000000..3614d6cc24c
--- /dev/null
+++ b/scripts/Tegra/source_sync_6.0.sh
@@ -0,0 +1,344 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Copyright (c) 2012-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: BSD-3-Clause
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice, this
+# list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# 3. Neither the name of the copyright holder nor the names of its
+# contributors may be used to endorse or promote products derived from
+# this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
+#
+# This script sync's NVIDIA's version of
+# 1. the kernel source
+# from nv-tegra, NVIDIA's public git repository.
+# The script also provides opportunities to the sync to a specific tag
+# so that the binaries shipped with a release can be replicated.
+#
+# Usage:
+# By default it will download all the listed sources
+# ./source_sync.sh
+# Use the -t <TAG> option to provide the TAG to be used to sync all the sources.
+# Use the -k <TAG> option to download only the kernel and device tree repos and optionally sync to TAG
+# For detailed usage information run with -h option.
+#
+
+
+# verify that git is installed
+if  ! which git > /dev/null  ; then
+  echo "ERROR: git is not installed. If your linux distro is 10.04 or later,"
+  echo "git can be installed by 'sudo apt-get install git-core'."
+  exit 1
+fi
+
+# source dir
+LDK_DIR=$(cd `dirname $0` && pwd)
+# script name
+SCRIPT_NAME=`basename $0`
+# info about sources.
+# NOTE: *Add only kernel repos here. Add new repos separately below. Keep related repos together*
+# NOTE: nvethrnetrm.git should be listed after "linux-nv-oot.git" due to nesting of sync path
+SOURCE_INFO="
+k:kernel/kernel-jammy-src:nv-tegra.nvidia.com/3rdparty/canonical/linux-jammy.git:
+k:nvgpu:nv-tegra.nvidia.com/linux-nvgpu.git:
+k:nvidia-oot:nv-tegra.nvidia.com/linux-nv-oot.git:
+k:hwpm:nv-tegra.nvidia.com/linux-hwpm.git:
+k:nvethernetrm:nv-tegra.nvidia.com/kernel/nvethernetrm.git:
+k:hardware/nvidia/t23x/nv-public:nv-tegra.nvidia.com/device/hardware/nvidia/t23x-public-dts.git:
+k:hardware/nvidia/tegra/nv-public:nv-tegra.nvidia.com/device/hardware/nvidia/tegra-public-dts.git:
+k:nvdisplay:nv-tegra.nvidia.com/tegra/kernel-src/nv-kernel-display-driver.git:
+k:dtc-src/1.4.5:nv-tegra.nvidia.com/3rdparty/dtc-src/1.4.5.git:
+o:tegra/argus-cam-libav/argus_cam_libavencoder:nv-tegra.nvidia.com/tegra/argus-cam-libav/argus_cam_libavencoder.git:
+o:tegra/cuda-src/nvsample_cudaprocess:nv-tegra.nvidia.com/tegra/cuda-src/nvsample_cudaprocess.git:
+o:tegra/gfx-src/nv-xconfig:nv-tegra.nvidia.com/tegra/gfx-src/nv-xconfig.git:
+o:tegra/gst-src/gst-egl:nv-tegra.nvidia.com/tegra/gst-src/gst-egl.git:
+o:tegra/gst-src/gst-jpeg:nv-tegra.nvidia.com/tegra/gst-src/gst-jpeg.git:
+o:tegra/gst-src/gst-nvarguscamera:nv-tegra.nvidia.com/tegra/gst-src/gst-nvarguscamera.git:
+o:tegra/gst-src/gst-nvcompositor:nv-tegra.nvidia.com/tegra/gst-src/gst-nvcompositor.git:
+o:tegra/gst-src/gst-nvtee:nv-tegra.nvidia.com/tegra/gst-src/gst-nvtee.git:
+o:tegra/gst-src/gst-nvv4l2camera:nv-tegra.nvidia.com/tegra/gst-src/gst-nvv4l2camera.git:
+o:tegra/gst-src/gst-nvvidconv:nv-tegra.nvidia.com/tegra/gst-src/gst-nvvidconv.git:
+o:tegra/gst-src/gst-nvvideo4linux2:nv-tegra.nvidia.com/tegra/gst-src/gst-nvvideo4linux2.git:
+o:tegra/gst-src/nvgstapps:nv-tegra.nvidia.com/tegra/gst-src/nvgstapps.git:
+o:tegra/gst-src/libgstnvcustomhelper:nv-tegra.nvidia.com/tegra/gst-src/libgstnvcustomhelper.git:
+o:tegra/gst-src/libgstnvdrmvideosink:nv-tegra.nvidia.com/tegra/gst-src/libgstnvdrmvideosink.git:
+o:tegra/gst-src/libgstnvvideosinks:nv-tegra.nvidia.com/tegra/gst-src/libgstnvvideosinks.git:
+o:tegra/v4l2-src/libv4l2_nvargus:nv-tegra.nvidia.com/tegra/v4l2-src/libv4l2_nvargus.git:
+o:tegra/nv-sci-src/nvsci_headers:nv-tegra.nvidia.com/tegra/nv-sci-src/nvsci_headers.git:
+o:tegra/optee-src/atf:nv-tegra.nvidia.com/tegra/optee-src/atf.git:
+o:tegra/optee-src/nv-optee:nv-tegra.nvidia.com/tegra/optee-src/nv-optee.git:
+o:tegra/v4l2-src/v4l2_libs:nv-tegra.nvidia.com/tegra/v4l2-src/v4l2_libs.git:
+"
+
+# exit on error on sync
+EOE=0
+# after processing SOURCE_INFO
+NSOURCES=0
+declare -a SOURCE_INFO_PROCESSED
+# download all?
+DALL=1
+
+function Usages {
+	local ScriptName=$1
+	local LINE
+	local OP
+	local DESC
+	local PROCESSED=()
+	local i
+
+	echo "Use: $1 [options]"
+	echo "Available general options are,"
+	echo "     -h     :     help"
+	echo "     -e     : exit on sync error"
+	echo "     -d [DIR] : root of source is DIR"
+	echo "     -t [TAG] : Git tag that will be used to sync all the sources"
+	echo ""
+	echo "By default, all sources are downloaded."
+	echo "Only specified sources are downloaded, if one or more of the following options are mentioned."
+	echo ""
+	echo "$SOURCE_INFO" | while read LINE; do
+		if [ ! -z "$LINE" ]; then
+			OP=$(echo "$LINE" | cut -f 1 -d ':')
+			DESC=$(echo "$LINE" | cut -f 2 -d ':')
+			if [[ ! " ${PROCESSED[@]} " =~ " ${OP} " ]]; then
+				echo "     -${OP} [TAG]: Download $DESC source and optionally sync to TAG"
+				PROCESSED+=("${OP}")
+			else
+				echo "           and download $DESC source and sync to the same TAG"
+			fi
+		fi
+	done
+	echo ""
+}
+
+function ProcessSwitch {
+	local SWITCH="$1"
+	local TAG="$2"
+	local i
+	local found=0
+
+	for ((i=0; i < NSOURCES; i++)); do
+		local OP=$(echo "${SOURCE_INFO_PROCESSED[i]}" | cut -f 1 -d ':')
+		if [ "-${OP}" == "$SWITCH" ]; then
+			SOURCE_INFO_PROCESSED[i]="${SOURCE_INFO_PROCESSED[i]}${TAG}:y"
+			DALL=0
+			found=1
+		fi
+	done
+
+	if [ "$found" == 1 ]; then
+		return 0
+	fi
+
+	echo "Terminating... wrong switch: ${SWITCH}" >&2
+	Usages "$SCRIPT_NAME"
+	exit 1
+}
+
+function UpdateTags {
+	local SWITCH="$1"
+	local TAG="$2"
+	local i
+
+	for ((i=0; i < NSOURCES; i++)); do
+		local OP=$(echo "${SOURCE_INFO_PROCESSED[i]}" | cut -f 1 -d ':')
+		if [ "${OP}" == "$SWITCH" ]; then
+			SOURCE_INFO_PROCESSED[i]=$(echo "${SOURCE_INFO_PROCESSED[i]}" \
+				| awk -F: -v OFS=: -v var="${TAG}" '{$4=var; print}')
+		fi
+	done
+}
+
+function DownloadAndSync {
+	local WHAT_SOURCE="$1"
+	local LDK_SOURCE_DIR="$2"
+	local REPO_URL="$3"
+	local TAG="$4"
+	local OPT="$5"
+	local RET=0
+
+	if [ -d "${LDK_SOURCE_DIR}" ]; then
+		echo "Directory for $WHAT, ${LDK_SOURCE_DIR}, already exists!"
+		pushd "${LDK_SOURCE_DIR}" > /dev/null
+		git status 2>&1 >/dev/null
+		if [ $? -ne 0 ]; then
+			echo "But the directory is not a git repository -- clean it up first"
+			echo ""
+			echo ""
+			popd > /dev/null
+			return 1
+		fi
+		git fetch --all 2>&1 >/dev/null
+		popd > /dev/null
+	else
+		echo "Downloading default $WHAT source..."
+
+		git clone "$REPO_URL" -n ${LDK_SOURCE_DIR} 2>&1 >/dev/null
+		if [ $? -ne 0 ]; then
+			echo "$2 source sync failed!"
+			echo ""
+			echo ""
+			return 1
+		fi
+
+		echo "The default $WHAT source is downloaded in: ${LDK_SOURCE_DIR}"
+	fi
+
+	if [ -z "$TAG" ]; then
+		echo "Please enter a tag to sync $2 source to"
+		echo -n "(enter nothing to skip): "
+		read TAG
+		TAG=$(echo $TAG)
+		UpdateTags $OPT $TAG
+	fi
+
+	if [ ! -z "$TAG" ]; then
+		pushd ${LDK_SOURCE_DIR} > /dev/null
+		git tag -l 2>/dev/null | grep -q -P "^$TAG\$"
+		if [ $? -eq 0 ]; then
+			echo "Syncing up with tag $TAG..."
+			git checkout -b mybranch_$(date +%Y-%m-%d-%s) $TAG
+			echo "$2 source sync'ed to tag $TAG successfully!"
+		else
+			echo "Couldn't find tag $TAG"
+			echo "$2 source sync to tag $TAG failed!"
+			RET=1
+		fi
+		popd > /dev/null
+	fi
+	echo ""
+	echo ""
+
+	return "$RET"
+}
+
+# prepare processing ....
+GETOPT=":ehd:t:"
+
+OIFS="$IFS"
+IFS=$(echo -en "\n\b")
+SOURCE_INFO_PROCESSED=($(echo "$SOURCE_INFO"))
+IFS="$OIFS"
+NSOURCES=${#SOURCE_INFO_PROCESSED[*]}
+
+for ((i=0; i < NSOURCES; i++)); do
+	OP=$(echo "${SOURCE_INFO_PROCESSED[i]}" | cut -f 1 -d ':')
+	GETOPT="${GETOPT}${OP}:"
+done
+
+# parse the command line first
+while getopts "$GETOPT" opt; do
+	case $opt in
+		d)
+			case $OPTARG in
+				-[A-Za-z]*)
+					Usages "$SCRIPT_NAME"
+					exit 1
+					;;
+				*)
+					LDK_DIR="$OPTARG"
+					;;
+			esac
+			;;
+		e)
+			EOE=1
+			;;
+		h)
+			Usages "$SCRIPT_NAME"
+			exit 1
+			;;
+		t)
+			TAG="$OPTARG"
+			PROCESSED=()
+			for ((i=0; i < NSOURCES; i++)); do
+				OP=$(echo "${SOURCE_INFO_PROCESSED[i]}" | cut -f 1 -d ':')
+				if [[ ! " ${PROCESSED[@]} " =~ " ${OP} " ]]; then
+					UpdateTags $OP $TAG
+					PROCESSED+=("${OP}")
+				fi
+			done
+			;;
+		[A-Za-z])
+			case $OPTARG in
+				-[A-Za-z]*)
+					eval arg=\$$((OPTIND-1))
+					case $arg in
+						-[A-Za-Z]-*)
+							Usages "$SCRIPT_NAME"
+							exit 1
+							;;
+						*)
+							ProcessSwitch "-$opt" ""
+							OPTIND=$((OPTIND-1))
+							;;
+					esac
+					;;
+				*)
+					ProcessSwitch "-$opt" "$OPTARG"
+					;;
+			esac
+			;;
+		:)
+			case $OPTARG in
+				#required arguments
+				d)
+					Usages "$SCRIPT_NAME"
+					exit 1
+					;;
+				#optional arguments
+				[A-Za-z])
+					ProcessSwitch "-$OPTARG" ""
+					;;
+			esac
+			;;
+		\?)
+			echo "Terminating... wrong switch: $@" >&2
+			Usages "$SCRIPT_NAME"
+			exit 1
+			;;
+	esac
+done
+shift $((OPTIND-1))
+
+GRET=0
+for ((i=0; i < NSOURCES; i++)); do
+	OPT=$(echo "${SOURCE_INFO_PROCESSED[i]}" | cut -f 1 -d ':')
+	WHAT=$(echo "${SOURCE_INFO_PROCESSED[i]}" | cut -f 2 -d ':')
+	REPO=$(echo "${SOURCE_INFO_PROCESSED[i]}" | cut -f 3 -d ':')
+	TAG=$(echo "${SOURCE_INFO_PROCESSED[i]}" | cut -f 4 -d ':')
+	DNLOAD=$(echo "${SOURCE_INFO_PROCESSED[i]}" | cut -f 5 -d ':')
+
+	if [ $DALL -eq 1 -o "x${DNLOAD}" == "xy" ]; then
+		DownloadAndSync "$WHAT" "${LDK_DIR}/${WHAT}" "git://${REPO}" "${TAG}" "${OPT}"
+		tRET=$?
+		let GRET=GRET+tRET
+		if [ $tRET -ne 0 -a $EOE -eq 1 ]; then
+			exit $tRET
+		fi
+	fi
+done
+
+ln -sf ../../../../../../nvethernetrm ${LDK_DIR}/nvidia-oot/drivers/net/ethernet/nvidia/nvethernet/nvethernetrm
+
+exit $GRET
diff --git a/scripts/patch-realsense-ubuntu-L4T.sh b/scripts/patch-realsense-ubuntu-L4T.sh
index 4205bc6b2c7..5523e97c6e1 100755
--- a/scripts/patch-realsense-ubuntu-L4T.sh
+++ b/scripts/patch-realsense-ubuntu-L4T.sh
@@ -1,6 +1,6 @@
 #!/bin/bash
 # The script utilizes `sources_sync.sh` provided as
-# part of NVidia SDK installer
+# part of NVIDIA(R) SDK installer
 
 echo -e "\e[32mThe script patches and applies in-tree kernel modules required for Librealsense SDK\e[0m"
 set -e
@@ -19,10 +19,7 @@ then
 fi
 
 #Include usability functions
-source ./scripts/patch-utils.sh
-
-# Get the required tools to build the patched modules
-sudo apt-get install build-essential git libssl-dev -y
+source ./scripts/patch-utils-hwe.sh
 
 #Activate fan to prevent overheat during KM compilation
 if [ -f /sys/devices/pwm-fan/target_pwm ]; then
@@ -52,62 +49,76 @@ fi
 PATCHES_REV=""
 #Select the kernel patches revision that matches the paltform configuration
 case ${JETSON_L4T_VERSION} in
-
-  "32.2.1" | "32.2.3" | "32.3.1" | "32.4.3")
-    PATCHES_REV="4.4"		# Baseline for the patches
-    echo -e "\e[32mNote: the patch makes changes to kernel device tree to support HID IMU sensors\e[0m"
-    ;;
-  "32.4.4" | "32.5" | "32.5.1" | "32.6.1" | "32.7.1")
-    PATCHES_REV="4.4.1"	# JP 4.4.1, 32.7.1 is JP 4.6.1
-    ;;
-  "35.1")
-    PATCHES_REV="5.0.2"	# JP 5.0.2
-	KERNEL_RELEASE="5.10"
+	"32.2.1" | "32.2.3" | "32.3.1" | "32.4.3")
+		PATCHES_REV="4.4"		# Baseline for the patches
+		echo -e "\e[32mNote: the patch makes changes to kernel device tree to support HID IMU sensors\e[0m"
+	;;
+	"32.4.4" | "32.5" | "32.5.1" | "32.6.1" | "32.7.1")
+		PATCHES_REV="4.4.1"	# JP 4.4.1, 32.7.1 is JP 4.6.1
+	;;
+	"35.1")
+		PATCHES_REV="5.0.2"	# JP 5.0.2
+		KERNEL_RELEASE="5.10"
+	;;
+	"36.3")
+		PATCHES_REV="6.0"	# JP 6.0
+		KERNEL_RELEASE="5.15"
 	;;
   *)
-    echo -e "\e[41mUnsupported JetPack revision ${JETSON_L4T_VERSION} aborting script\e[0m"
-    exit;
-    ;;
+	echo -e "\e[41mUnsupported JetPack revision ${JETSON_L4T_VERSION} aborting script\e[0m"
+	exit;
+	;;
 esac
 echo -e "\e[32mL4T ${JETSON_L4T_VERSION} to use patches revision ${PATCHES_REV}\e[0m"
 
-
+# Get the required tools to build the patched modules
+sudo apt-get install build-essential git libssl-dev -y
+if [ "6.0" != "$PATCHES_REV" ]; then
 # Get the linux kernel repo, extract the L4T tag
-echo -e "\e[32mRetrieve the corresponding L4T git tag the kernel source tree\e[0m"
-l4t_gh_dir=../linux-${KERNEL_RELEASE}-source-tree
-if [ ! -d ${l4t_gh_dir} ]; then
-	mkdir ${l4t_gh_dir}
+	echo -e "\e[32mRetrieve the corresponding L4T git tag the kernel source tree\e[0m"
+	l4t_gh_dir=../linux-${KERNEL_RELEASE}-source-tree
+	if [ ! -d ${l4t_gh_dir} ]; then
+		mkdir ${l4t_gh_dir}
+		pushd ${l4t_gh_dir}
+		git init
+		git remote add origin git://nv-tegra.nvidia.com/linux-${KERNEL_RELEASE}
+		# Use NVIDIA script instead to synchronize source tree and peripherals
+		#git clone git://nv-tegra.nvidia.com/linux-${KERNEL_RELEASE}
+		popd
+	else
+		echo -e "Directory ${l4t_gh_dir} is present, skipping initialization...\e[0m"
+	fi
+
+	#Search the repository for the tag that matches the maj.min for L4T
 	pushd ${l4t_gh_dir}
-	git init
-	git remote add origin git://nv-tegra.nvidia.com/linux-${KERNEL_RELEASE}
-	# Use Nvidia script instead to synchronize source tree and peripherals
-	#git clone git://nv-tegra.nvidia.com/linux-${KERNEL_RELEASE}
+	TEGRA_TAG=$(git ls-remote --tags origin | grep ${JETSON_L4T_VERSION} | grep '[^^{}]$' | tail -n 1 | awk -F/ '{print $NF}')
+	echo -e "\e[32mThe matching L4T source tree tag is \e[47m${TEGRA_TAG}\e[0m"
 	popd
-else
-	echo -e "Directory ${l4t_gh_dir} is present, skipping initialization...\e[0m"
 fi
 
-#Search the repository for the tag that matches the maj.min for L4T
-pushd ${l4t_gh_dir}
-TEGRA_TAG=$(git ls-remote --tags origin | grep ${JETSON_L4T_VERSION} | grep '[^^{}]$' | tail -n 1 | awk -F/ '{print $NF}')
-echo -e "\e[32mThe matching L4T source tree tag is \e[47m${TEGRA_TAG}\e[0m"
-popd
-
-
 #Retrieve tegra tag version for sync, required for get and sync kernel source with Jetson:
 #https://forums.developer.nvidia.com/t/r32-1-tx2-how-can-i-build-extra-module-in-the-tegra-device/72942/9
 #Download kernel and peripheral sources as the L4T github repo is not self-contained to build kernel modules
 sdk_dir=$(pwd)
-echo -e "\e[32mCreate the sandbox - NVidia L4T source tree(s)\e[0m"
+echo -e "\e[32mCreate the sandbox - NVIDIA L4T source tree(s)\e[0m"
 mkdir -p ${sdk_dir}/Tegra
 TEGRA_SOURCE_SYNC_SH="source_sync.sh"
 if [ "5.0.2" = "$PATCHES_REV" ]; then
-  TEGRA_SOURCE_SYNC_SH="source_sync_5.0.2.sh"
+	TEGRA_SOURCE_SYNC_SH="source_sync_5.0.2.sh"
+fi
+if [ "6.0" = "$PATCHES_REV" ]; then
+	TEGRA_SOURCE_SYNC_SH="source_sync_6.0.sh"
+	TEGRA_TAG="jetson_36.3"
 fi
 cp ./scripts/Tegra/$TEGRA_SOURCE_SYNC_SH ${sdk_dir}/Tegra
-#Download NVidia source, disregard errors on module tag sync
+#Download NVIDIA source, disregard errors on module tag sync
 ./Tegra/$TEGRA_SOURCE_SYNC_SH -k ${TEGRA_TAG} || true
-KBASE=./Tegra/sources/kernel/kernel-$KERNEL_RELEASE
+if [ "6.0" = "$PATCHES_REV" ]; then
+	KBASE=./Tegra/kernel/kernel-jammy-src
+else
+	KBASE=./Tegra/sources/kernel/kernel-$KERNEL_RELEASE
+fi
+
 echo ${KBASE}
 pushd ${KBASE}
 
@@ -122,16 +133,39 @@ fi
 
 #Clean the kernel WS
 echo -e "\e[32mPrepare workspace for kernel build\e[0m"
-make ARCH=arm64 mrproper -j$(($(nproc)-1)) && make ARCH=arm64 tegra_defconfig -j$(($(nproc)-1))
 
+if [ "6.0" = "$PATCHES_REV" ]; then
+	make ARCH=arm64 mrproper -j$(($(nproc)-1)) 
+	echo -e "\e[32mUpdate the kernel tree to support HID IMU sensors\e[0m"
+	# appending config to defconfig so later .config will be generated with all necessary dependencies
+	echo 'CONFIG_HID_SENSOR_HUB=m' >> ./arch/arm64/configs/defconfig
+	echo 'CONFIG_HID_SENSOR_ACCEL_3D=m' >> ./arch/arm64/configs/defconfig
+	echo 'CONFIG_HID_SENSOR_GYRO_3D=m' >> ./arch/arm64/configs/defconfig
+	echo 'CONFIG_HID_SENSOR_IIO_COMMON=m' >> ./arch/arm64/configs/defconfig
+	echo 'CONFIG_HID_SENSOR_IIO_TRIGGER=m' >> ./arch/arm64/configs/defconfig
+	make ARCH=arm64 defconfig -j$(($(nproc)-1))
+else
+	make ARCH=arm64 mrproper -j$(($(nproc)-1)) && make ARCH=arm64 tegra_defconfig -j$(($(nproc)-1))
+fi
 #Reuse existing module.symver
 kernel_ver=`uname -r`
 LINUX_HEADERS_NAME="linux-headers-${kernel_ver}-ubuntu18.04_aarch64"
 if [ "5.0.2" = "$PATCHES_REV" ]; then
   LINUX_HEADERS_NAME="linux-headers-${kernel_ver}-ubuntu20.04_aarch64"
 fi
-cp /usr/src/$LINUX_HEADERS_NAME/kernel-$KERNEL_RELEASE/Module.symvers .
-cp /usr/src/$LINUX_HEADERS_NAME/kernel-$KERNEL_RELEASE/Makefile .
+if [ "6.0" = "$PATCHES_REV" ]; then
+  LINUX_HEADERS_NAME="linux-headers-${kernel_ver}-ubuntu22.04_aarch64"
+fi
+
+if [ "6.0" = "$PATCHES_REV" ]; then
+	# we will skip copy module symbols as it will result in failing to compile iio core modules
+	#cp /usr/src/$LINUX_HEADERS_NAME/3rdparty/canonical/linux-jammy/kernel-source/Module.symvers .
+	#cp /usr/src/$LINUX_HEADERS_NAME/3rdparty/canonical/linux-jammy/kernel-source/Makefile .
+	echo ""
+else
+	cp /usr/src/$LINUX_HEADERS_NAME/kernel-$KERNEL_RELEASE/Module.symvers .
+	cp /usr/src/$LINUX_HEADERS_NAME/kernel-$KERNEL_RELEASE/Makefile .
+fi
 
 #Jetpack prior to 4.4.1 requires manual reconfiguration of kernel
 if [ "4.4" = "$PATCHES_REV" ]; then
@@ -140,20 +174,30 @@ if [ "4.4" = "$PATCHES_REV" ]; then
 	sed -i '/CONFIG_HID_SENSOR_GYRO_3D/c\CONFIG_HID_SENSOR_GYRO_3D=m' .config
 	sed -i '/CONFIG_HID_SENSOR_IIO_COMMON/c\CONFIG_HID_SENSOR_IIO_COMMON=m\nCONFIG_HID_SENSOR_IIO_TRIGGER=m' .config
 fi
+
 make ARCH=arm64 prepare modules_prepare LOCALVERSION='' -j$(($(nproc)-1))
 
 #Remove previously applied patches
 git reset --hard
 echo -e "\e[32mApply Librealsense Kernel Patches\e[0m"
-patch -p1 < ./LRS_Patches/01-realsense-camera-formats-L4T-${PATCHES_REV}.patch
-patch -p1 < ./LRS_Patches/02-realsense-metadata-L4T-${PATCHES_REV}.patch
-if [ "4.4" = "$PATCHES_REV" ]; then # for Jetpack 4.4 and older
-	patch -p1 < ./LRS_Patches/03-realsense-hid-L4T-4.9.patch
+if [ "6.0" != "$PATCHES_REV" ]; then
+	patch -p1 < ./LRS_Patches/01-realsense-camera-formats-L4T-${PATCHES_REV}.patch
+	patch -p1 < ./LRS_Patches/02-realsense-metadata-L4T-${PATCHES_REV}.patch
+	if [ "4.4" = "$PATCHES_REV" ]; then # for Jetpack 4.4 and older
+		patch -p1 < ./LRS_Patches/03-realsense-hid-L4T-4.9.patch
+	fi
+	if [ "5.0.2" != "$PATCHES_REV" ]; then
+		patch -p1 < ./LRS_Patches/04-media-uvcvideo-mark-buffer-error-where-overflow.patch
+	fi
+	patch -p1 < ./LRS_Patches/05-realsense-powerlinefrequency-control-fix.patch
 fi
-if [ "5.0.2" != "$PATCHES_REV" ]; then
-	patch -p1 < ./LRS_Patches/04-media-uvcvideo-mark-buffer-error-where-overflow.patch
+
+if [ "6.0" = "$PATCHES_REV" ]; then
+	patch -p1 < ${sdk_dir}/scripts/realsense-camera-formats-jammy-master.patch
+	patch -p1 < ${sdk_dir}/scripts/realsense-metadata-jammy-master.patch
+	patch -p1 < ${sdk_dir}/scripts/realsense-powerlinefrequency-control-fix-jammy.patch
+	sed -i s'/1.1.1/1.1.1-realsense/'g ./drivers/media/usb/uvc/uvcvideo.h
 fi
-patch -p1 < ./LRS_Patches/05-realsense-powerlinefrequency-control-fix.patch
 
 echo -e "\e[32mCompiling uvcvideo kernel module\e[0m"
 #sudo -s make -j -C $KBASE M=$KBASE/drivers/media/usb/uvc/ modules
@@ -165,19 +209,43 @@ if [ "4.4" = "$PATCHES_REV" ]; then # for Jetpack 4.4 and older
 	echo -e "\e[32mCompiling accelerometer and gyro modules\e[0m"
 	make -j$(($(nproc)-1)) ARCH=arm64  M=drivers/iio modules
 fi
-
-echo -e "\e[32mCopying the patched modules to (~/) \e[0m"
-sudo cp drivers/media/usb/uvc/uvcvideo.ko ~/${TEGRA_TAG}-uvcvideo.ko
-sudo cp drivers/media/v4l2-core/videobuf-vmalloc.ko ~/${TEGRA_TAG}-videobuf-vmalloc.ko
-sudo cp drivers/media/v4l2-core/videobuf-core.ko ~/${TEGRA_TAG}-videobuf-core.ko
+if [ "6.0" = "$PATCHES_REV" ]; then # for Jetpack 6.0
+	echo -e "\e[32mCompiling hid support, accelerometer and gyro modules\e[0m"
+	make -j$(($(nproc)-1)) ARCH=arm64  M=drivers/hid modules
+	make -j$(($(nproc)-1)) ARCH=arm64  M=drivers/iio modules
+fi
+if [ "6.0" != "$PATCHES_REV" ]; then # for Jetpack 4-5
+	echo -e "\e[32mCopying the patched modules to (~/) \e[0m"
+	sudo cp drivers/media/usb/uvc/uvcvideo.ko ~/${TEGRA_TAG}-uvcvideo.ko
+	sudo cp drivers/media/v4l2-core/videobuf-vmalloc.ko ~/${TEGRA_TAG}-videobuf-vmalloc.ko
+	sudo cp drivers/media/v4l2-core/videobuf-core.ko ~/${TEGRA_TAG}-videobuf-core.ko
+else
+	echo -e "\e[32mCopying the patched modules to destination \e[0m"
+fi
 if [ "4.4" = "$PATCHES_REV" ]; then # for Jetpack 4.4 and older
 	sudo cp drivers/iio/common/hid-sensors/hid-sensor-iio-common.ko ~/${TEGRA_TAG}-hid-sensor-iio-common.ko
 	sudo cp drivers/iio/common/hid-sensors/hid-sensor-trigger.ko ~/${TEGRA_TAG}-hid-sensor-trigger.ko
 	sudo cp drivers/iio/accel/hid-sensor-accel-3d.ko ~/${TEGRA_TAG}-hid-sensor-accel-3d.ko
 	sudo cp drivers/iio/gyro/hid-sensor-gyro-3d.ko ~/${TEGRA_TAG}-hid-sensor-gyro-3d.ko
 fi
-popd
 
+if [ "6.0" = "$PATCHES_REV" ]; then # for Jetpack 6
+	sudo mkdir -p /lib/modules/$(uname -r)/extra/
+	# uvc modules with formats/sku support
+	sudo cp drivers/media/usb/uvc/uvcvideo.ko /lib/modules/$(uname -r)/extra/
+	sudo cp drivers/media/v4l2-core/videodev.ko /lib/modules/$(uname -r)/extra/
+	# iio modules for iio-hid support
+	sudo cp drivers/iio/buffer/kfifo_buf.ko /lib/modules/$(uname -r)/extra/
+	sudo cp drivers/iio/buffer/industrialio-triggered-buffer.ko /lib/modules/$(uname -r)/extra/
+	sudo cp drivers/iio/common/hid-sensors/hid-sensor-iio-common.ko /lib/modules/$(uname -r)/extra/
+	sudo cp drivers/hid/hid-sensor-hub.ko /lib/modules/$(uname -r)/extra/
+	sudo cp drivers/iio/accel/hid-sensor-accel-3d.ko /lib/modules/$(uname -r)/extra/
+	sudo cp drivers/iio/gyro/hid-sensor-gyro-3d.ko /lib/modules/$(uname -r)/extra/
+	sudo cp drivers/iio/common/hid-sensors/hid-sensor-trigger.ko /lib/modules/$(uname -r)/extra/
+	# set depmod search path to include "extra" modules
+	sudo sed -i 's/search updates/search extra updates/g' /etc/depmod.d/ubuntu.conf
+fi
+popd
 echo -e "\e[32mMove the modified modules into the modules tree\e[0m"
 if [ "4.4" = "$PATCHES_REV" ]; then # for Jetpack 4.4 and older
 #Optional - create kernel modules directories in kernel tree
@@ -194,7 +262,29 @@ fi
 sudo depmod
 
 echo -e "\e[32mInsert the modified kernel modules\e[0m"
-try_module_insert uvcvideo              ~/${TEGRA_TAG}-uvcvideo.ko                /lib/modules/`uname -r`/kernel/drivers/media/usb/uvc/uvcvideo.ko
+if [ "6.0" != "$PATCHES_REV" ]; then
+	try_module_insert uvcvideo              ~/${TEGRA_TAG}-uvcvideo.ko                /lib/modules/`uname -r`/kernel/drivers/media/usb/uvc/uvcvideo.ko
+	try_load_module  uvcvideo
+	try_load_module  hid-sensor-gyro-3d
+	try_load_module  hid-sensor-accel-3d
+else
+	# for JP6.0 we will try to remove old modules and then load updated ones
+	echo -e "\e[32mUnload kernel modules\e[0m"
+	try_unload_module uvcvideo
+	try_unload_module hid_sensor_accel_3d
+	try_unload_module hid_sensor_gyro_3d
+	try_unload_module hid_sensor_trigger
+	try_unload_module industrialio_triggered_buffer
+	try_unload_module kfifo_buf
+	echo -e "\e[32mLoad modified kernel modules\e[0m"
+	try_load_module kfifo_buf
+	try_load_module industrialio_triggered_buffer
+	try_load_module hid_sensor_trigger
+	try_load_module hid_sensor_gyro_3d
+	try_load_module hid_sensor_accel_3d
+	try_load_module uvcvideo
+	echo -e "\e[32mDone\e[0m"
+fi
 if [ "4.4" = "$PATCHES_REV" ]; then # for Jetpack 4.4 and older
 	try_module_insert hid_sensor_accel_3d   ~/${TEGRA_TAG}-hid-sensor-accel-3d.ko     /lib/modules/`uname -r`/kernel/drivers/iio/accel/hid-sensor-accel-3d.ko
 	try_module_insert hid_sensor_gyro_3d    ~/${TEGRA_TAG}-hid-sensor-gyro-3d.ko      /lib/modules/`uname -r`/kernel/drivers/iio/gyro/hid-sensor-gyro-3d.ko