it seems we are not the only one having this issue:

https://lists.yoctoproject.org/pipermail/poky/2011-April/005703.html
https://lists.yoctoproject.org/pipermail/poky/2011-May/005763.html

and in the continuation of this thread there's some low level debugging
(and a couple of workarounds that didn't succeed on a vanilla 2.6.38):

https://lists.yoctoproject.org/pipermail/poky/2011-June/006634.html

moreover this issue in present in omap4 too.

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https://bugs.launchpad.net/bugs/791552

Title:
  No USB support on beagle/beagleXM

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