Adding rootdelay=10 was one of the first things I tried and it made no
difference. I haven't tried rootwait but that is documented as doing
rootdelay=forever, so I would expect the same results.

With my board, the problem seems to go away once it has been in use for
a while. So it must be some kind of race or timing condition. I'll try
putting my board in the fridge for a while...

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https://bugs.launchpad.net/bugs/712175

Title:
  OMAP Beagle C4: kernel does not reliably find SD card on boot

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