you need kernel 5.2+ and mesa 19.1+ for panfrost. i would use latest available via unstable/experimental or backports. enabled as a module is fine. test the driver in use via glxinfo.
if you are feeling adventurous you can use the same build scripts as the ones i made for the pinebook pro, which uses the same cpu and gpu.
if you are feeling adventurous you can use the same build scripts as the ones i made for the pinebook pro, which uses the same cpu and gpu.