Ok, it's really easy ;)

http://kernel.ubuntu.com/~kernel-ppa/mainline/v2.6.32-rc6/ has deb packages of 
fresh kernel snapshots. 
All you need is downloading and installing headers and image files:

http://kernel.ubuntu.com/~kernel-ppa/mainline/v2.6.32-rc6/linux-image-2.6.32-020632rc6-generic_2.6.32-020632rc6_i386.deb
http://kernel.ubuntu.com/~kernel-ppa/mainline/v2.6.32-rc6/linux-headers-2.6.32-020632rc6-generic_2.6.32-020632rc6_i386.deb
http://kernel.ubuntu.com/~kernel-ppa/mainline/v2.6.32-rc6/linux-headers-2.6.32-020632rc6_2.6.32-020632rc6_all.deb

Then you should update your grub:

sudo update-grub

Reboot ;)

* Certainly you can compile it from sources but this way is the most
simple :)

-- 
ata2 exception EMask delays/prevents booting 9.04 & 8.10
https://bugs.launchpad.net/bugs/379831
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