Some more progress, after enabling all pinmux related items in the kernel 
menuconfig (I presumed that all necessary settings should already be 
selected, but it seems these actions have altered the result slightly). Now 
I see the i2c devices in /dev but I still don't have access to them. The 
boot log says:

> [    0.259358] omap_i2c 44e0b000.i2c: bus 0 rev0.11 at 400 kHz
> [    0.259406] i2c i2c-0: of_i2c: modalias failure on 
> /ocp/i2c@44e0b000/tps@24
> [    0.260942] omap_i2c 44e0b000.i2c: unable to select pin group
> [    0.262082] omap_i2c 4819c000.i2c: bus 1 rev0.11 at 100 kHz
> [    0.265169] omap_i2c 4819c000.i2c: unable to select pin group


 

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