Patrick, the GCC cross-compiler version included in the latest SDK 06.00.00.00 is crosstool-NG linaro-1.13.1-4.7-2013.03-20130313 - Linaro GCC 2013.03. Please check the AM335x SDK 06.00.00.00 Release Notes: http://processors.wiki.ti.com/index.php/Sitara_SDK_6.00.00_Release_Notes
Here is the AM335x USB Driver User Guide, please check the supported USB class drivers: http://processors.wiki.ti.com/index.php/AM335X_USB_Driver_User_Guide_04.06.00#Driver_Features
The USB CD-ROM should be a mass storage class device, so it should be supported.
Best regards,
Miroslav
