Would be possible to compile an armhf kernel. I am currently running
armhf and so unable to test it.

I am not sure if this is helpful, I have a kernel that I compiled from
source. I build all the modules I need loaded into the kernel, my
personal preference.

$ cat /boot/config-3.2.1-omap4 | grep -i musb
CONFIG_USB_MUSB_HDRC=y
# CONFIG_USB_MUSB_TUSB6010 is not set
CONFIG_USB_MUSB_OMAP2PLUS=y
# CONFIG_USB_MUSB_AM35X is not set
# CONFIG_MUSB_PIO_ONLY is not set
CONFIG_USB_GADGET_MUSB_HDRC=y

This from your build

$ cat config-3.2.0-1406-omap4 | grep -i musb
CONFIG_USB_MUSB_HDRC=m
CONFIG_USB_MUSB_TUSB6010=m
CONFIG_USB_MUSB_OMAP2PLUS=m
# CONFIG_USB_MUSB_AM35X is not set
CONFIG_MUSB_PIO_ONLY=y
# CONFIG_USB_GADGET_MUSB_HDRC is not set


I think CONFIG_USB_GADGET_MUSB_HDRC is required for it to work.

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

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

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