diff --git a/drivers/platform/tegra/rtcpu/Makefile b/drivers/platform/tegra/rtcpu/Makefile
index c5e74184..664e4d0a 100644
--- a/drivers/platform/tegra/rtcpu/Makefile
+++ b/drivers/platform/tegra/rtcpu/Makefile
@@ -3,9 +3,7 @@
 
 ccflags-y += -Wframe-larger-than=2048
 
-ifneq ($(CONFIG_TEGRA_IVC_LEGACY_DISABLE),y)
 obj-m += capture-ivc.o
-endif
 obj-m += ivc-bus.o
 obj-m += camchar.o
 obj-m += camera-diagnostics.o
diff --git a/drivers/platform/tegra/rtcpu/capture-ivc.c b/drivers/platform/tegra/rtcpu/capture-ivc.c
index 901b2019..65496b8d 100644
--- a/drivers/platform/tegra/rtcpu/capture-ivc.c
+++ b/drivers/platform/tegra/rtcpu/capture-ivc.c
@@ -1,6 +1,8 @@
 // SPDX-License-Identifier: GPL-2.0
 // Copyright (c) 2022-2023, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 
+#include <nvidia/conftest.h>
+
 #include <linux/tegra-capture-ivc.h>
 
 #include <linux/completion.h>
@@ -357,11 +359,25 @@ static inline void tegra_capture_ivc_recv(struct tegra_capture_ivc *civc)
 {
 	struct tegra_ivc *ivc = &civc->chan->ivc;
 	struct device *dev = &civc->chan->dev;
+	const void *msg;
+	const struct tegra_capture_ivc_msg_header *hdr;
+	uint32_t id;
 
 	while (tegra_ivc_can_read(ivc)) {
-		const void *msg = tegra_ivc_read_get_next_frame(ivc);
-		const struct tegra_capture_ivc_msg_header *hdr = msg;
-		uint32_t id = hdr->channel_id;
+#if defined(NV_TEGRA_IVC_STRUCT_HAS_IOSYS_MAP) /* Linux 6.2 */
+		struct iosys_map map;
+		int err;
+		err = tegra_ivc_read_get_next_frame(ivc, &map);
+		if (err) {
+			dev_err(dev, "Failed to get next frame for read\n");
+			return;
+		}
+		msg = map.vaddr;
+#else
+		msg = tegra_ivc_read_get_next_frame(ivc);
+#endif
+		hdr = msg;
+		id = hdr->channel_id;
 
 		trace_capture_ivc_recv(dev_name(dev), hdr->msg_id, id);
 
diff --git a/include/linux/tegra-capture-ivc.h b/include/linux/tegra-capture-ivc.h
index a9dfc4ca..dfa4c5c0 100644
--- a/include/linux/tegra-capture-ivc.h
+++ b/include/linux/tegra-capture-ivc.h
@@ -9,7 +9,6 @@
 #include <linux/types.h>
 #include <linux/version.h>
 
-#if !defined(CONFIG_TEGRA_IVC_LEGACY_DISABLE)
 /**
  * @brief Submit the control message binary blob to capture-IVC driver,
  *	which is to be transferred over control IVC channel to RTCPU.
@@ -134,59 +133,4 @@ int tegra_capture_ivc_unregister_control_cb(
  */
 int tegra_capture_ivc_unregister_capture_cb(
 	uint32_t chan_id);
-#else
-typedef void (*tegra_capture_ivc_cb_func)(
-	const void *resp_desc,
-	const void *priv_context);
-
-static inline int tegra_capture_ivc_control_submit(
-	const void *control_desc,
-	size_t len)
-{
-	return -ENOTSUPP;
-};
-
-static inline int tegra_capture_ivc_capture_submit(
-	const void *capture_desc,
-	size_t len)
-{
-	return -ENOTSUPP;
-};
-
-static inline int tegra_capture_ivc_register_control_cb(
-	tegra_capture_ivc_cb_func control_resp_cb,
-	uint32_t *trans_id,
-	const void *priv_context)
-{
-	return -ENOTSUPP;
-};
-
-static inline int tegra_capture_ivc_notify_chan_id(
-	uint32_t chan_id,
-	uint32_t trans_id)
-{
-	return -ENOTSUPP;
-};
-
-static inline int tegra_capture_ivc_register_capture_cb(
-	tegra_capture_ivc_cb_func capture_status_ind_cb,
-	uint32_t chan_id,
-	const void *priv_context)
-{
-	return -ENOTSUPP;
-};
-
-static inline int tegra_capture_ivc_unregister_control_cb(
-	uint32_t id)
-{
-	return -ENOTSUPP;
-};
-
-static inline int tegra_capture_ivc_unregister_capture_cb(
-	uint32_t chan_id)
-{
-	return -ENOTSUPP;
-};
-#endif /* !defined(CONFIG_TEGRA_IVC_LEGACY_DISABLE) */
-
 #endif /* INCLUDE_CAPTURE_IVC_H */