Had a similar problem. Have a PATA cdrom drive and a SATA hard drive on
a ICHM6 chipset. According to the libata FAQ, Intel chipsets like this
combine the PATA and SATA functions and the IDE and libata drivers
fight. Fixed it by adding "combined_mode=libata" to the kernel
parameters in GRUB. Has booted multiple times without this problem now.

Got the information from:
http://linux-ata.org/faq.html#combined

-- 
ata timeout freezes system partly
https://bugs.launchpad.net/bugs/37382
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