KMSCUBE is a simple demo using KMS/DRM, EGL, GBM, and other common components to the modern Linux graphics stack. This demo app is similar in nature to glxgears and is now able to run on the Jetson TK1 with the very latest development code.
Getting this open-source code to run on the Jetson TK1 involves their modified DRM driver code, Tegra K1 patches for Mesa, and other changes. Thierry Reding of NVIDIA shared via his Google+, "We've reached an important milestone today. The video below shows a slightly modified version of +Rob Clark's kmscube running on an NVIDIA Jetson TK1. It uses the Nouveau driver for rendering and Tegra DRM for display, sharing buffers between them using DMA-BUF. kmscube runs smoothly at a 1920x1080 resolution at 60 frames per second."
Here is Reding's video of KMSCUBE running on the Jetson TK1, which is NVIDIA's exciting sub-$200 ARM development platform and yields high-performance: