I get this problem also on a:
00:1f.2 IDE interface: Intel Corporation 82801EB (ICH5) SATA Controller (rev 02)
on a dell dimension 8300. Using;
ii  linux-image-2.6.20-12-generic              2.6.20-12.20

The boot would hang giving the following messages. I can speed it up by
opening and closing the CDROM drives a few times.

I fixed it by recompiling the ata_piix driver from source using the
patch I found at:

http://lkml.org/lkml/2007/3/4/259

Hope you include it or another fix in edge. Thanks for the good work.

[   66.302321] ata2.01: qc timeout (cmd 0xef)
[   66.302380] ata2.01: failed to set xfermode (err_mask=0x4)
[   66.302432] ata2: failed to recover some devices, retrying in 5 secs
[   72.112049] ata2.00: configured for UDMA/33
[  102.037474] ata2.01: qc timeout (cmd 0xef)
[  102.037531] ata2.01: failed to set xfermode (err_mask=0x4)
[  102.037584] ata2.01: limiting speed to UDMA/33:PIO3
[  102.037635] ata2: failed to recover some devices, retrying in 5 secs
[  107.847204] ata2.00: configured for UDMA/33
[  137.772631] ata2.01: qc timeout (cmd 0xef)
[  137.772687] ata2.01: failed to set xfermode (err_mask=0x4)
[  137.772739] ata2.01: disabled
[  137.772787] ata2: failed to recover some devices, retrying in 5 secs
[  142.768212] ata2.00: failed to set xfermode (err_mask=0x40)
[  142.768268] ata2: failed to recover some devices, retrying in 5 secs
[  148.422327] ata2.00: configured for UDMA/33

-- 
2.6.20-10 regression from 2.6.20-9, Macbook Pro no longer boots
https://launchpad.net/bugs/91940

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