I installed the kernel and the device is being detected:

$ uname -r
3.2.0-1406-omap4
$ dmesg | grep musb
[    0.688903] musb-hdrc: version 6.0, ?dma?, otg (peripheral+host)
[    0.689117] musb-hdrc: ConfigData=0xde (UTMI-8, dyn FIFOs, bulk combine, 
bulk split, HB-ISO Rx, HB-ISO Tx, SoftConn)
[    0.689147] musb-hdrc: MHDRC RTL version 2.0
[    0.689178] musb-hdrc: setup fifo_mode 4
[    0.689178] musb-hdrc: 28/31 max ep, 16384/16384 memory
[    0.689575] musb-hdrc musb-hdrc: USB OTG mode controller at fc0ab000 using 
DMA, IRQ 124

The kernel that I had built earlier

$ uname -r
3.2.1-omap4
$ dmesg | grep -i musb
[    0.853942] musb-hdrc: version 6.0, ?dma?, otg (peripheral+host)
[    0.854278] musb-hdrc: ConfigData=0xde (UTMI-8, dyn FIFOs, bulk combine, 
bulk split, HB-ISO Rx, HB-ISO Tx, SoftConn)
[    0.854309] musb-hdrc: MHDRC RTL version 2.0
[    0.854309] musb-hdrc: setup fifo_mode 4
[    0.854339] musb-hdrc: 28/31 max ep, 16384/16384 memory
[    0.855010] musb-hdrc musb-hdrc: USB OTG mode controller at fc0ab000 using 
DMA, IRQ 124

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https://bugs.launchpad.net/bugs/927860

Title:
  Missing musb-hdrc module required by Pandaboard OTG port

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