@Matt: interested that you said you had a rev C but the GPIO reported something 
else, as you can see from the logs:
[    0.143920] OMAP3 Beagle Rev: unknown 3, assuming xM C or newer

So it could be the case that the GPIO is not set as 010 for xM C. As I
can't find the proper hardware manuals now I believe this could be
wrong, but luckily the other cases are all xM rev C now, so it worked
fine for you.

Robert, can you check with your xM to see if this GPIO configuration is
actually fine for rev C?

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https://bugs.launchpad.net/bugs/770679

Title:
  Missing proper support for Beagle XM rev B and C

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