build

name	build
description	Build the RealSense MIPI platform driver for NVIDIA Jetson. Use when the user wants to build the kernel/driver/DTBs for a specific JetPack version or troubleshoot build issues. Triggers on requests mentioning build, compile, make, or JetPack version numbers (4.6.1, 5.0.2, 5.1.2, 6.0, 6.1, 6.2, 6.2.1).

Build Skill

Supported JetPack Versions

Valid versions: 4.6.1, 5.0.2, 5.1.2, 6.0, 6.1, 6.2, 6.2.1

Always ask the user which JetPack version to target if not specified.

Build Workflow

All commands run from the repository root. The $VERSION placeholder below refers to the JetPack version (e.g., 6.2).

Step 1: Ask whether to apply patches

Ask the user whether they need to apply patches or just copy d4xx.c and build.

• Apply patches — Full reset and re-apply of all patches. Required after a fresh workspace setup, when kernel/DT patches changed, or when the user explicitly asks for it.
• Copy d4xx.c only — Quick path when only the d4xx driver source changed. Skips patch reset/apply and just copies the driver file to the build tree.

Option A: Full patch apply

Requires git config user.name and git config user.email to be set.

Always reset patches before re-applying:

./apply_patches.sh $VERSION reset
./apply_patches.sh $VERSION

Option B: Copy d4xx.c only (skip patches)

Copy the driver source directly to the build tree:

• JP 6.x (Orin):

  cp kernel/realsense/d4xx.c sources_$VERSION/nvidia-oot/drivers/media/i2c/d4xx.c
  

• JP 4.x / 5.x (Xavier):

  cp kernel/realsense/d4xx.c sources_$VERSION/kernel/nvidia/drivers/media/i2c/d4xx.c
  

Where $VERSION is the actual JetPack version (e.g., 6.2, 5.1.2), matching the sources_* directory name.

Step 2: Build

./build_all.sh $VERSION

Flags:

• --clean — remove previous build artifacts before building
• --dev-dbg — enable CONFIG_DYNAMIC_DEBUG and CONFIG_DYNAMIC_DEBUG_CORE in kernel

Output directory: images/$VERSION/ (normalized: images/6.x/ for JP 6.x, images/5.x/ for JP 5.x).

Build Architecture Details

What gets built per JetPack generation

JP 6.x (Orin): Out-of-tree module build. Builds kernel image, NVIDIA OOT modules (nvidia-oot, nvgpu, etc.), device tree overlays (tegra234-camera-d4xx-overlay*.dtbo). Sources in sources_6.*/. i.e for JP6.2 sources will be located at sources_6.2/

JP 5.x / 4.6.1 (Xavier): In-tree kernel build with tegra_defconfig. Builds kernel image, DTBs, and modules. Sources in sources_5.x/ or sources_4.6.1/.

Cross-compilation

Native builds on aarch64 skip toolchain setup. Cross-compilation toolchains are in l4t-gcc/$VERSION/ (installed by setup_workspace.sh):

• JP 4.6.1: aarch64-linux-gnu-
• JP 5.x: aarch64-buildroot-linux-gnu-
• JP 6.x: aarch64-buildroot-linux-gnu-

Key files copied during patch application

• kernel/realsense/d4xx.c → sources_*/nvidia-oot/drivers/media/i2c/ (JP 6.x) or sources_*/kernel/nvidia/drivers/media/i2c/ (JP 4/5)
• hardware/realsense/tegra234-camera-d4xx-overlay*.dts → overlay dir (JP 6.x)
• hardware/realsense/tegra194-camera-d4xx-*.dtsi → DT dir (JP 4/5)

Common Issues

• Patches fail to apply: Run ./apply_patches.sh $VERSION reset first, then re-apply.
• Missing git identity: Set git config user.name and git config user.email before apply_patches.sh.
• Workspace not set up: Run ./setup_workspace.sh $VERSION first (downloads NVIDIA sources + toolchain).
• BUILD_NUMBER set: If BUILD_NUMBER env var is set (common in CI), it changes the kernel vermagic string.