With Maverick it does work if I compile the kernel with the following config 
file:
 * 
http://bazaar.launchpad.net/~beagleboard-kernel/+junk/2.6.35-devel/annotate/head:/patches/defconfig

It's quite different from Maverick's one, so still need to compare most
of the changes related with usb and see what we should change to have
the OTG behavior working again.

Brian, you can easily build and test with your board, to see how it
should behave.

-- 
OTG configuration is broken on omap kernel
https://bugs.launchpad.net/bugs/566645
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