I got it working with:
CONFIG_IWLWIFI=m
CONFIG_IWLWIFI_LEDS=y
CONFIG_IWLDVM=m
CONFIG_IWLMVM=m <- needed for 3160 devices
debian@beaglebone:~$ dmesg | grep iw
[ 21.224893] iwlwifi 0000:01:00.0: enabling device (0140 -> 0142)
[ 21.224961] iwlwifi 0000:01:00.0: pci_enable_msi failed(0Xffffffda)
[ 21.659880] iwlwifi 0000:01:00.0: loaded firmware version
17.352738.0 op_mode iwlmvm
[ 21.776953] iwlwifi 0000:01:00.0: Detected Intel(R) Dual Band
Wireless AC 3160, REV=0x164
[ 21.778425] iwlwifi 0000:01:00.0: L1 Disabled - LTR Disabled
[ 21.778670] iwlwifi 0000:01:00.0: L1 Disabled - LTR Disabled
[ 21.935380] ieee80211 phy0: Selected rate control algorithm 'iwl-mvm-rs'
[ 21.941364] iwlwifi 0000:01:00.0: L1 Disabled - LTR Disabled
[ 21.941808] iwlwifi 0000:01:00.0: L1 Disabled - LTR Disabled
[ 22.050470] iwlwifi 0000:01:00.0: L1 Disabled - LTR Disabled
[ 22.050716] iwlwifi 0000:01:00.0: L1 Disabled - LTR Disabled
wlan0 Link encap:Ethernet HWaddr 78:0c:b8:fc:e7:5c
UP BROADCAST MULTICAST DYNAMIC MTU:1500 Metric:1
RX packets:0 errors:0 dropped:0 overruns:0 frame:0
TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:0 (0.0 B) TX bytes:0 (0.0 B)
debian@beaglebone:~$ sudo connmanctl
connmanctl> enable wifi
Error wifi: Already enabled
connmanctl> scan wifi
Scan completed for wifi
connmanctl> services
BeagleBone-ABCDEF
wifi_780cb8fce75c_426561676c65426f6e652d414243444546_managed_psk
DKE_Guest wifi_780cb8fce75c_444b455f4775657374_managed_psk
DKE_Employee
wifi_780cb8fce75c_444b455f456d706c6f796565_managed_ieee8021x
connmanctl> agent on
Agent registered
_psk anctl> connect
wifi_780cb8fce75c_426561676c65426f6e652d414243444546_managed_
Agent RequestInput
wifi_780cb8fce75c_426561676c65426f6e652d414243444546_managed_psk
Passphrase = [ Type=psk, Requirement=mandatory ]
Passphrase? BeagleBoneBeagleBone
connmanctl> quit
debian@beaglebone:~$ sudo ifconfig -a wlan0
wlan0 Link encap:Ethernet HWaddr 78:0c:b8:fc:e7:5c
inet addr:192.168.0.113 Bcast:192.168.0.255 Mask:255.255.255.0
inet6 addr: fe80::7a0c:b8ff:fefc:e75c/64 Scope:Link
UP BROADCAST RUNNING MULTICAST DYNAMIC MTU:1500 Metric:1
RX packets:30 errors:0 dropped:0 overruns:0 frame:0
TX packets:56 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:3546 (3.4 KiB) TX bytes:13717 (13.3 KiB)
and pushed it as part of r107:
https://github.com/RobertCNelson/ti-linux-kernel-dev/commit/538107ffc6c5d32304bf20a4db497df1b87578d4