So instead of a new user asking this...
kernel: 4.1 (based of ti's 4.1.x branch)
For beagleboard.org images:
cd /opt/scripts/tools/
git pull
sudo ./update_kernel.sh ${OPTIONS}
Default v4.1.x:
OPTIONS="--ti-channel --testing"
v4.1.x + rt:
OPTIONS="--ti-rt-channel --testing"
ti's v4.1.x:
OPTIONS="--ti-omap2plus-channel"
SGX Kernel Modules: (starting with: r22: 4.1.10-ti-r22/4.1.10-ti-rt-r22)
built from: http://git.ti.com/gitweb/?p=graphics/omap5-sgx-ddk-linux.git;a=summary
sudo apt-get install ti-sgx-5430-modules-`uname -r`
sudo depmod -a `uname -r`
sudo update-initramfs -uk `uname -r`
"5430" is probally going to change at "some" point...
Reboot...
Load Module:
sudo modprobe omapdrm_pvr
Install sgx user space:
http://git.ti.com/gitweb/?p=graphics/omap5-sgx-ddk-um-linux.git;a=summary
Try to start-it.. 
debian@BeagleBoard-X15:~$ sudo /usr/bin/pvrsrvinit
PVR:(Error): OpenServices: drmOpen failed [120, /pvr_bridge_u.c]
PVR:(Error): PVRSRVInitSrvConnect: PVRSRVConnect failed [2572,
/bridged_pvr_glue.c]
PVR:(Error): SrvInit: PVRSRVInitSrvConnect failed (4) [37, /srvinit.c]
PVR:(Error): main: SrvInit failed (4) [47, /pvrsrvinit.c]
oh so close.
Regards,