In Linux BSP documentation package there's a document named "imx5x_IPU_LIB_UG.pdf". It describes IPU API and how you can use IPU to perform these functions accelerated by HW.
Usually your application will need to generate frame to a buffer of XxY size, and then you'd use IPU to rotate it to YxX framebuffer. So a small plugin is usually required to integrate to an existing app.