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What is the easiest way to draw graphics on Linux framebuffer?

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http://unix.stackexchange.com – I have some embedded Linux arm chip with LCD display on frame-buffer. I connect to chip with serial console. I can access frame-buffer directly with low-level commands. However I need to draw some figures or even sprites. I am searching something. Can for example SDL run on frame-buffer without X on framebuffer, or there is similar graphical libraries? High performance video like speed is not needed, because probably animation will not be used, but GUI should be at least usable. Ncurses was use-full for text interface, but I need some graphical interface. (HowTos)