I have the same or similar problem with a brain new Dell Zino HD on Lucid 
freshly updated.
2.6.32-20-generic #30-Ubuntu SMP Mon Apr 12 15:20:57 UTC 2010 x86_64
ii  xserver-xorg-video-ati               1:6.13.0-1ubuntu2                      
         X.Org X server -- AMD/ATI display driver wra

The hardware:
AMD Athlon(tm) Neo X2 Dual Core Processor 6850e
01:00.0 VGA compatible controller: ATI Technologies Inc M92 LP [Mobility Radeon 
HD 4300 Series

The error in dmesg:
[ 8720.564689] radeon 0000:01:00.0: GPU softreset 
[ 8720.564695] radeon 0000:01:00.0:   R_008010_GRBM_STATUS=0xA0003028
[ 8720.564701] radeon 0000:01:00.0:   R_008014_GRBM_STATUS2=0x00000002
[ 8720.564706] radeon 0000:01:00.0:   R_000E50_SRBM_STATUS=0x200000C0
[ 8720.564718] radeon 0000:01:00.0:   R_008020_GRBM_SOFT_RESET=0x00007FEE
[ 8720.564774] radeon 0000:01:00.0: R_008020_GRBM_SOFT_RESET=0x00000001
[ 8720.564837] radeon 0000:01:00.0:   R_000E60_SRBM_SOFT_RESET=0x00000402
[ 8720.662007] radeon 0000:01:00.0:   R_008010_GRBM_STATUS=0x00003028
[ 8720.662012] radeon 0000:01:00.0:   R_008014_GRBM_STATUS2=0x00000002
[ 8720.662017] radeon 0000:01:00.0:   R_000E50_SRBM_STATUS=0x200000C0
[ 8720.672345] [drm:radeon_fence_wait] *ERROR* 
fence(ffff88008d8e9f40:0x00278B5A) 630ms timeout
[ 8720.676884] [drm:radeon_fence_wait] *ERROR* last signaled fence(0x00278B5A)

-- 
[Lucid] Radeon Xpress 200M needs PCI quirk to fix or disable MSI
https://bugs.launchpad.net/bugs/509273
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