DaVinci Pinmux 1.0
Do this via U-Boot
Open davinci.c from the boards directory in U-BOOT.
The stuff regarding pinmux is in there. More specifically:
#define PINMUX0 0x01C40000 /* Enable UART0 MUX lines */ *(volatile unsigned int *)PINMUX4 |= 1;
Using the above as a guide, and with a copy of the DaVinci datasheet, you should be able to get what you want working.