I use DM3730 on Gumstix Overo Firestorm-P COM and 3.17.8 Linux kernel. When capturing video streams from USB 2.0 cameras, the CPU usage is 60%. When using an earlier Linux kernel, 3.5 version, which did not support DMA, the CPU usage was only 30%. More interestingly, all of this usage is attributed (by Linux top tool) to software interrupts. Perhaps this problems is related to the EHCI driver and DMA.
For testing I used the code from the V4L2 specification with --mmal option.