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SK-AM62: Rogue graphics acceleration not working with 6.1 kernel, Rogue driver

Part Number: SK-AM62

We have been having some difficulty getting graphics acceleration to work on an SK-AM62 with the 6.1 Linux kernel. We are using the kirkstone/k6.1/23.2.6460340 branch of the Rogue userspace libraries: https://git.ti.com/cgit/graphics/ti-img-rogue-umlibs

When we run with the 6.1 userspace libraries, we get this runtime error when running any OpenGL application:

MESA-LOADER: failed to open pvr: /usr/lib/dri/pvr_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/aarch64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri)
failed to load driver: pvr

When this happens, rendering works, but it is software rasterized. This is evident from extremely high CPU usage on all cores (up to 85%).

We did not have this problem with the 5.10 Linux kernel and the dunfell/k5.10/1.15.6133109_unified_fw_pagesize branch of the userspace libraries. We did notice that various libraries (pvr_dri.so, tidss_dri.so) are not present in the kirkstone branch, which leads us to believe that there are some other third-party packages (e.g. Mesa) that were originally packaged with dunfell and are no longer, which we now need to install manually. Is there any documentation on the differences between the two, and the expected runtime (userspace) dependencies of the Rogue userspace libraries (if any)?

I should point out that we are not building with Yocto, but are installing the Rogue userspace libraries manually. Our distribution is Debian 12 (Bookworm), in case that helps. As mentioned, this process worked with dunfell but not with kirkstone.

Any help on the above error or pointers to Rogue userspace installation documentation would be greatly appreciated.