I have the same problem at 9.04 (kernel as from a brand new install) with an 
old PIII-633, 256MB and a 4GB old WD ATA-33 HDD.
Solved the problem as described previously:
"I fixed the problem by turning my drives to cable select and re-plugging my 
ide cables in the proper direction."
Same machine with a different HDD had no problem also with jumpers on master.

For sure there is a long running problem in the kernel I guess.

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Boot fails on ata3: SRST failed (errno=-16)
https://bugs.launchpad.net/bugs/220706
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