Pioneer DVDR 105 issues

The only way I can get the system to boot up fully is by closing the drive
door to prevent a ata timeout hang. 

Motherboard is a via p4x266

Heres my dmesg. If theres more debugging info you need let me know.

Im also having to boot with ACPI disabled and USB disabled in my bios
otherwise im getting all kinds of problems with USB the onboard sound and
DVD-RAM.

FreeBSD 5.2-CURRENT #0: Fri Jun 11 00:55:05 PDT 2004
    root_at_xxx.xxx:/usr/obj/usr/src/sys/FREEDOM
Preloaded elf kernel "/boot/kernel/kernel" at 0xc0745000.
Timecounter "i8254" frequency 1193182 Hz quality 0
CPU: Intel(R) Pentium(R) 4 CPU 1.50GHz (1514.93-MHz 686-class CPU)
  Origin = "GenuineIntel"  Id = 0xf12  Stepping = 2
 
Features=0x3febf9ff<FPU,VME,DE,PSE,TSC,MSR,PAE,MCE,CX8,SEP,MTRR,PGE,MCA,CMOV
,PAT,PSE36,CLFLUSH,DTS,ACPI,MMX,FXSR,SSE,SSE2,SS,HTT,TM>
real memory  = 536870912 (512 MB)
avail memory = 519876608 (495 MB)
random: <entropy source, Software, Yarrow>
Pentium Pro MTRR support enabled
npx0: [FAST]
npx0: <math processor> on motherboard
npx0: INT 16 interface
pcibios: BIOS version 2.10
pcib0: <Host to PCI bridge> at pcibus 0 on motherboard
pir0: <PCI Interrupt Routing Table: 9 Entries> on motherboard
pci0: <PCI bus> on pcib0
$PIR: 0:7 INTA routed to irq 12
$PIR: 0:17 INTD routed to irq 12
$PIR: 0:17 INTD routed to irq 12
$PIR: 0:17 INTD routed to irq 12
$PIR: 0:17 INTC routed to irq 5
agp0: <VIA Generic host to PCI bridge> mem 0xd0000000-0xd7ffffff at device
0.0 on pci0
pcib1: <PCI-PCI bridge> at device 1.0 on pci0
pci1: <PCI bus> on pcib1
$PIR: ROUTE_INTERRUPT failed.
pci1: <display, VGA> at device 0.0 (no driver attached)
rl0: <RealTek 8139 10/100BaseTX> port 0xa000-0xa0ff mem
0xe2000000-0xe20000ff irq 12 at device 7.0 on pci0
miibus0: <MII bus> on rl0
rlphy0: <RealTek internal media interface> on miibus0
rlphy0:  10baseT, 10baseT-FDX, 100baseTX, 100baseTX-FDX, auto
rl0: Ethernet address: 00:50:ba:42:d9:4d
rl0: [GIANT-LOCKED]
isab0: <PCI-ISA bridge> at device 17.0 on pci0
isa0: <ISA bus> on isab0
atapci0: <VIA 8233 UDMA100 controller> port
0xa400-0xa40f,0x376,0x170-0x177,0x3f6,0x1f0-0x1f7 at device 17.1 on pci0
ata0: at 0x1f0 irq 14 on atapci0
ata1: at 0x170 irq 15 on atapci0
uhci0: <VIA 83C572 USB controller> port 0xa800-0xa81f irq 12 at device 17.2
on pci0
uhci0: [GIANT-LOCKED]
usb0: <VIA 83C572 USB controller> on uhci0
usb0: USB revision 1.0
uhub0: VIA UHCI root hub, class 9/0, rev 1.00/1.00, addr 1
uhub0: 2 ports with 2 removable, self powered
ums0: Microsoft Microsoft IntelliMouse\M-. Optical, rev 1.10/1.21, addr 2,
iclass 3/1
ums0: 5 buttons and Z dir.
ukbd0: Logitech Logitech USB Keyboard, rev 1.10/12.10, addr 3, iclass 3/1
kbd0 at ukbd0
uhid0: Logitech Logitech USB Keyboard, rev 1.10/12.10, addr 3, iclass 3/0
uhci1: <VIA 83C572 USB controller> port 0xac00-0xac1f irq 12 at device 17.3
on pci0
uhci1: [GIANT-LOCKED]
usb1: <VIA 83C572 USB controller> on uhci1
usb1: USB revision 1.0
uhub1: VIA UHCI root hub, class 9/0, rev 1.00/1.00, addr 1
uhub1: 2 ports with 2 removable, self powered
uhci2: <VIA 83C572 USB controller> port 0xb000-0xb01f irq 12 at device 17.4
on pci0
uhci2: [GIANT-LOCKED]
usb2: <VIA 83C572 USB controller> on uhci2
usb2: USB revision 1.0
uhub2: VIA UHCI root hub, class 9/0, rev 1.00/1.00, addr 1
uhub2: 2 ports with 2 removable, self powered
pcm0: <VIA VT8233> port 0xb400-0xb4ff irq 5 at device 17.5 on pci0
pcm0: [GIANT-LOCKED]
pcm0: <Avance Logic ALC200 AC97 Codec>
cpu0 on motherboard
orm0: <Option ROM> at iomem 0xd0000-0xd7fff on isa0
atkbdc0: <Keyboard controller (i8042)> at port 0x64,0x60 on isa0
sc0: <System console> at flags 0x100 on isa0
sc0: VGA <16 virtual consoles, flags=0x300>
vga0: <Generic ISA VGA> at port 0x3c0-0x3df iomem 0xa0000-0xbffff on isa0
unknown: <PNP0303> can't assign resources (port)
unknown: <PNP0c02> can't assign resources (memory)
Timecounter "TSC" frequency 1514928620 Hz quality 800
Timecounters tick every 10.000 msec
ad0: 38166MB <WDC WD400BB-00AUA1> [77545/16/63] at ata0-master UDMA100
acd0: WARNING - MODE_SENSE_BIG read data overrun 34>0
acd0: DVDR <PIONEER DVD-RW DVR-105> at ata1-master PIO4
Mounting root from ufs:/dev/ad0s3a