Beaglebone GPU usage
This page talks about using GLES on SGX530:
http://www.edlangley.co.uk/projects/opengl-streaming-textures/

This uses TI's bc-cat OpenGLES driver for AM35x platforms:
http://processors.wiki.ti.com/index.php/OpenGLES_Texture_Streaming_-_bc-cat_User_Guide