I got it fixed.

I switched over to the 4.1.6 kernel.
Then:
git clone https://github.com/beagleboard/bb.org-overlays

Then edited the BB-BONE-LCD7-01-00A3.dts, removed all references for the 
key input pins.
Installed then rebooted.

[    3.911349] bone_capemgr bone_capemgr: slot #3: dtbo 
'cape-CBB-Serial-r01.dtbo' loaded; overlay id #1
[    3.912324] bone_capemgr bone_capemgr: slot #0: dtbo 
'BB-BONE-LCD7-01-00A3.dtbo' loaded; overlay id #0
Works!
Next on the list is Xenomai src.

Thank you for putting me onto the diff between 3.8 and 4.1 kernels.

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