recompiled latest u-boot (535abb9 - Sun May 15 23:23:36) for Panda and
it seems to help a bit:

omap login: [   14.583953] usb0: link up, 100Mbps, full-duplex, lpa 0x45E1
[   14.630310] twl4030 operation mode cannot be changed on-the-fly
[   14.703765] twl4030 operation mode cannot be changed on-the-fly
[   22.338684] usb0: no IPv6 routers present
[   24.292205] usb 1-2.4: new full speed USB device using ehci-omap and address 
4
[   24.497009] cdc_acm 1-2.4:1.0: This device cannot do calls on its own. It is 
not a modem.
[   24.506500] cdc_acm 1-2.4:1.0: ttyACM0: USB ACM device
[   24.516845] usbcore: registered new interface driver cdc_acm
[   24.522888] cdc_acm: v0.26:USB Abstract Control Model driver for USB modems 
and ISDN adapters

a binary version of this u-boot is available here:
http://people.canonical.com/~ppisati/lp784474/u-boot.bin.panda

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https://bugs.launchpad.net/bugs/784474

Title:
  usb enumeration fail on beagleboard

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