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When performing a firmware upgrade via atacontrol[1] the subsequent command may time out producing the error message above. When this happens the callout could still be active, and the system would then panic due to a destroyed semaphore. Instead, ensure that the callout is done first, via callout_drain. Note that this fix applies to the "old" ata(4) and so isn't applicable to the default configuration in HEAD. It is still applicable to stable/8. [1] http://lists.freebsd.org/pipermail/freebsd-current/2012-January/031122.html Submitted by: Nima Misaghian Reviewed by: rstone, attilio, mav Obtained from: SVOS MFC after: 3 days