I've been working on getting the OMAP3530 SGX (powervr) graphics accelerator working under linux... Mostly following these instructions: http://code.google.com/p/beagleboard/wiki/HowtoUseSGXunderAngstrom - But I have found that I needed to do a little more than that.
First: I'm assuming you have the beagleboard OpenEmbedded build environment working. and can build the console-image.
Next: you have to build the devmem2 package:
bitbake devmem2
Copy the 3 devmem2 packages to /home/root on the SD card
devmem2-dbg_1.0-r1.1_armv7a.ipk
devmem2-dev_1.0-r1.1_armv7a.ipk
devmem2_1.0-r1.1_armv7a.ipk
Boot the card and install with "opkg install XXX" the devmem2 packages
Then follow the instructions for installing the SGX stuff.
It works! Running the test programs displays some pretty basic shaded/texture-mapped triangles to the screen. Doesn't appear to be doing frame sync or anything, but works none-the-less.
The test programs seemed to work... now I need to try and build an app against the opengl-es libs.