ATA-IDE major problem

For a while now, I have been having major problems with the IDE subsystem, 
and my ATAPI CD.
They basically started after the 6 branch came into existence.

I have SCSI hard drives, NO IDE hard disks, and an IDE CD as primary on IDE 
channel 2.

During boot up, the IDE subsystem seems to be having problems talking to the 
CD; and they persist once the system is up -- which takes a hell-of-a-long 
time, due to the constant erroring out of the IDE....

Below, a DMESG:
>>>

Copyright (c) 1992-2004 The FreeBSD Project.
Copyright (c) 1979, 1980, 1983, 1986, 1988, 1989, 1991, 1992, 1993, 1994
        The Regents of the University of California. All rights reserved.
FreeBSD 6.0-CURRENT #1: Fri Sep 17 14:34:02 EST 2004
    xxx_at_fb1.gccs.com.au:/usr/obj/usr/src/sys/GENERIC
WARNING: WITNESS option enabled, expect reduced performance.
Timecounter "i8254" frequency 1193182 Hz quality 0
CPU: Intel Pentium III (996.68-MHz 686-class CPU)
  Origin = "GenuineIntel"  Id = 0x686  Stepping = 6
  Features=0x383f9ff<FPU,VME,DE,PSE,TSC,MSR,PAE,MCE,CX8,SEP,MTRR,PGE,MCA,CMOV,PA
T,PSE36,MMX,FXSR,SSE>
real memory  = 267321344 (254 MB)
avail memory = 251936768 (240 MB)
npx0: [FAST]
npx0: <math processor> on motherboard
npx0: INT 16 interface
acpi0: <IntelR MSI ACPI> on motherboard
acpi0: Power Button (fixed)
Timecounter "ACPI-fast" frequency 3579545 Hz quality 1000
acpi_timer0: <24-bit timer at 3.579545MHz> port 0x4008-0x400b on acpi0
cpu0: <ACPI CPU (3 Cx states)> on acpi0
acpi_tz0: <Thermal Zone> on acpi0
acpi_button0: <Power Button> on acpi0
acpi_button1: <Sleep Button> on acpi0
pcib0: <ACPI Host-PCI bridge> port 0x4000-0x40f7,0xcf8-0xcff on acpi0
pci0: <ACPI PCI bus> on pcib0
agp0: <Intel 82815 (i815 GMCH) SVGA controller> mem 
0xd6000000-0xd607ffff,0xd000
0000-0xd3ffffff irq 12 at device 2.0 on pci0
pcib1: <ACPI PCI-PCI bridge> at device 30.0 on pci0
pci1: <ACPI PCI bus> on pcib1
ahc0: <Adaptec 19160B Ultra160 SCSI adapter> port 0xc000-0xc0ff mem 
0xd5000000-0
xd5000fff irq 11 at device 1.0 on pci1
ahc0: [GIANT-LOCKED]
aic7892: Ultra160 Wide Channel A, SCSI Id=7, 32/253 SCBs
tx0: <SMC EtherPower II 10/100> port 0xc400-0xc4ff mem 0xd5001000-0xd5001fff 
irq
 10 at device 2.0 on pci1
miibus0: <MII bus> on tx0
qsphy0: <QS6612 10/100 media interface> on miibus0
qsphy0:  10baseT, 10baseT-FDX, 100baseTX, 100baseTX-FDX, auto
 type SMC9432TX
tx0: [GIANT-LOCKED]
tx0: Ethernet address: 00:e0:29:2d:d0:be
tx0: if_start running deferred for Giant
isab0: <PCI-ISA bridge> at device 31.0 on pci0
isa0: <ISA bus> on isab0
atapci0: <Intel ICH UDMA66 controller> port 
0xf000-0xf00f,0x376,0x170-0x177,0x3f
6,0x1f0-0x1f7 at device 31.1 on pci0
ata0: channel #0 on atapci0
ata1: channel #1 on atapci0
uhci0: <Intel 82801AA (ICH) USB controller> port 0xd000-0xd01f irq 5 at 
device 3
1.2 on pci0
uhci0: [GIANT-LOCKED]
usb0: <Intel 82801AA (ICH) USB controller> on uhci0
usb0: USB revision 1.0
uhub0: Intel UHCI root hub, class 9/0, rev 1.00/1.00, addr 1
uhub0: 2 ports with 2 removable, self powered
pci0: <serial bus, SMBus> at device 31.3 (no driver attached)
pci0: <multimedia, audio> at device 31.5 (no driver attached)
fdc0: <floppy drive controller> port 0x3f7,0x3f0-0x3f5 irq 6 drq 2 on acpi0
fdc0: [FAST]
fd0: <1440-KB 3.5" drive> on fdc0 drive 0
sio0 port 0x3f8-0x3ff irq 4 on acpi0
sio0: type 16550A
sio1 port 0x2f8-0x2ff irq 3 on acpi0
sio1: type 16550A
ppc0 port 0x778-0x77b,0x378-0x37f irq 7 on acpi0
ppc0: Generic chipset (EPP/NIBBLE) in COMPATIBLE mode
ppbus0: <Parallel port bus> on ppc0
plip0: <PLIP network interface> on ppbus0
lpt0: <Printer> on ppbus0
lpt0: Interrupt-driven port
ppi0: <Parallel I/O> on ppbus0
atkbdc0: <Keyboard controller (i8042)> port 0x64,0x60 irq 1 on acpi0
atkbd0: <AT Keyboard> irq 1 on atkbdc0
kbd0 at atkbd0
atkbd0: [GIANT-LOCKED]
orm0: <ISA Option ROM> at iomem 0xc0000-0xcbfff on isa0
pmtimer0 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
Timecounter "TSC" frequency 996683489 Hz quality 800
Timecounters tick every 10.000 msec
acpi_cpu: throttling enabled, 2 steps (100% to 50.0%), currently 100.0%
ATAPI_RESET time = 50us
ATAPI_RESET time = 50us
acd0: FAILURE - MODE_SENSE_BIG timed out
ATAPI_RESET time = 50us
acd0: FAILURE - MODE_SENSE_BIG timed out
ATAPI_RESET time = 50us
acd0: FAILURE - MODE_SENSE_BIG timed out
ATAPI_RESET time = 50us
acd0: FAILURE - MODE_SENSE_BIG timed out
ATAPI_RESET time = 50us
acd0: FAILURE - MODE_SENSE_BIG timed out
acd0: CDROM <CDU5211/YYS2> at ata1-master PIO4
Waiting 2 seconds for SCSI devices to settle
ATAPI_RESET time = 50us
acd0: FAILURE - TEST_UNIT_READY timed out
(probe0:ahc0:0:4:1): AutoSense Failed
(probe0:ahc0:0:4:2): AutoSense Failed
(probe0:ahc0:0:4:3): AutoSense Failed
(probe0:ahc0:0:4:4): AutoSense Failed
(probe0:ahc0:0:4:5): AutoSense Failed
(probe0:ahc0:0:4:6): AutoSense Failed
(probe0:ahc0:0:4:7): AutoSense Failed
da0 at ahc0 bus 0 target 4 lun 0
da0: <SEAGATE ST39204LW 0002> Fixed Direct Access SCSI-3 device
da0: 160.000MB/s transfers (80.000MHz, offset 63, 16bit), Tagged Queueing 
Enable
d
da0: 8750MB (17921835 512 byte sectors: 255H 63S/T 1115C)
ATAPI_RESET time = 50us
acd0: FAILURE - PREVENT_ALLOW timed out
ATAPI_RESET time = 50us
acd0: FAILURE - TEST_UNIT_READY timed out
ATAPI_RESET time = 50us
acd0: FAILURE - TEST_UNIT_READY timed out
ATAPI_RESET time = 50us
acd0: FAILURE - PREVENT_ALLOW timed out
ATAPI_RESET time = 50us
acd0: FAILURE - TEST_UNIT_READY timed out
ATAPI_RESET time = 50us
acd0: FAILURE - PREVENT_ALLOW timed out
ATAPI_RESET time = 50us
acd0: FAILURE - TEST_UNIT_READY timed out
ATAPI_RESET time = 50us
acd0: FAILURE - TEST_UNIT_READY timed out
ATAPI_RESET time = 50us
acd0: FAILURE - PREVENT_ALLOW timed out
ATAPI_RESET time = 50us
acd0: FAILURE - TEST_UNIT_READY timed out
ATAPI_RESET time = 50us
acd0: FAILURE - PREVENT_ALLOW timed out
ATAPI_RESET time = 50us
acd0: FAILURE - TEST_UNIT_READY timed out
ATAPI_RESET time = 60us
acd0: FAILURE - TEST_UNIT_READY timed out
ATAPI_RESET time = 50us
acd0: FAILURE - PREVENT_ALLOW timed out
Mounting root from ufs:/dev/da0s1a
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