More info, commenting out the lowest two operating points for 34xx makes
the problem go away:

diff --git a/arch/arm/mach-omap2/opp3xxx_data.c 
b/arch/arm/mach-omap2/opp3xxx_data.c
index e71c5ba..06b6297 100644
--- a/arch/arm/mach-omap2/opp3xxx_data.c
+++ b/arch/arm/mach-omap2/opp3xxx_data.c
@@ -105,11 +105,13 @@ struct omap_volt_data omap36xx_vddcore_volt_data[] = {
 /* OPP data */
 
 static struct omap_opp_def __initdata omap34xx_opp_def_list[] = {
+#if 0
        /* MPU OPP1 */
        OPP_INITIALIZER("mpu", true, 125000000, OMAP3430_VDD_MPU_OPP1_UV),
        /* MPU OPP2 */
        OPP_INITIALIZER("mpu", true, 250000000, OMAP3430_VDD_MPU_OPP2_UV),
        /* MPU OPP3 */
+#endif
        OPP_INITIALIZER("mpu", true, 500000000, OMAP3430_VDD_MPU_OPP3_UV),
        /* MPU OPP4 */
        OPP_INITIALIZER("mpu", true, 550000000, OMAP3430_VDD_MPU_OPP4_UV),

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https://bugs.launchpad.net/bugs/732912

Title:
  omapdss DISPC error: GFX_FIFO_UNDERFLOW

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