I have the same/similar issue on my RPi 4. While playing video with Kodi
the Pi randomly will hang and be unresponsive to mouse, keyboard and
display frozen. I can SSH and the web server plus torrent servers are
still running fine but the cpu load slowly rises to something in the 8-9
range. If left alone it will recover after maybe 30-45 minutes and when
it does the kernel posts the below two messages to dmesg. Always the
same two messages. I have also seen the "kworker has blocked for more
than 120 seconds" message as mentioned above but not lately.

Distro:
Ubuntu MATE for Raspberry Pi 20.04

uname:
Linux raspberry 5.8.0-1011-raspi #14-Ubuntu SMP PREEMPT Tue Dec 15 08:53:29 UTC 
2020 aarch64 aarch64 aarch64 GNU/Linux

dmesg:
[So Jan 10 04:31:09 2021] raspberrypi-firmware soc:firmware: mbox_send_message 
returned -62
[So Jan 10 04:31:09 2021] cpu cpu0: dev_pm_opp_set_rate: failed to find current 
OPP for freq 18446744073709551554 (-34)


Based on the "dev_pm_opp_set_rate" error I assumed it was related to the 
cpufreq function so I changed the cpufreq governor to 'performance' and I 
haven't had any issues since. I'll continue testing and maybe someday try to 
debug the kernel but for now it's fixed by leaving the governor on performance.

If I'm right then this isn't a Ubuntu bug but really a kernel bug,
specific to the Raspberry Pi.

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https://bugs.launchpad.net/bugs/1908423

Title:
  5.4.0-58-generic: Raspberry Pi 3 arm64 occasionally unresponsive

Status in linux package in Ubuntu:
  Confirmed

Bug description:
  Since upgrading to 5.4.0-56-generic my RPI3 devices started freezing
  randomly, about once every few hours.

  -56, -58 and -59 are affected, reverting *only* the kernel back to -53
  got me 3 days without freeze. Diagnostics so far have not turned up
  anything useful, still busy figuring out cross-compile bisect and a
  reasonably fast reproduction.

  The devices are also known as (/proc/device-tree/compatible)
  raspberrypi,3-model-bbrcm,bcm2837
  raspberrypi,3-model-b-plusbrcm,bcm2837
  I only use them in ARM64 mode, and I only run -generic kernels via Pete 
Batards EDKII builds.

  (unreliable, slow) reproduction:
  1. run affected aarch64 kernel
  2. set low non-zero /proc/sys/kernel/hung_task_timeout_secs
  3. utilize xorg through vc4 kms
  4. check dmesg when display freezes

  symptom 1 (always the same -62):
  13:52:01.832230 kernel: raspberrypi-firmware soc:firmware: mbox_send_message 
returned -62
  13:52:01.839310 kernel: raspberrypi-clk raspberrypi-clk: Failed to change 
pllb frequency: -62

  Note: similar message in Bug 1889637
  Exactly one Google search result for the exact message: 
https://forum.openwrt.org/t/rpi-4-failed-to-change-pllb-frequency/81840

  symptom 2 (varying hangs):
  [Dez15 16:09] INFO: task kworker/2:1:36 blocked for more than 120 seconds.
  [  +0,000019]       Tainted: G         C  E     5.4.0-58-generic #64-Ubuntu
  [  +0,000004] "echo 0 > /proc/sys/kernel/hung_task_timeout_secs" disables 
this message.
  [  +0,000006] kworker/2:1     D    0    36      2 0x00000028
  [  +0,000022] Workqueue: events dbs_work_handler
  [  +0,000004] Call trace:
  [  +0,000009]  __switch_to+0xf8/0x1b0
  [  +0,000008]  __schedule+0x310/0x7d8
  [  +0,000005]  schedule+0x40/0xb8
  [  +0,000004]  schedule_timeout+0xa0/0x198
  [  +0,000005]  __wait_for_common+0xf0/0x230
  [  +0,000005]  wait_for_completion_timeout+0x38/0x48
  [  +0,000006]  mbox_send_message+0xd0/0x170
  [  +0,000006]  rpi_firmware_property_list+0xec/0x250
  [  +0,000004]  rpi_firmware_property+0x78/0xb8
  [  +0,000010]  raspberrypi_fw_pll_set_rate+0x60/0xe0 [clk_raspberrypi]
  [  +0,000008]  clk_change_rate+0xdc/0x420
  [  +0,000004]  clk_core_set_rate_nolock+0x1cc/0x1f0
  [  +0,000003]  clk_set_rate+0x3c/0xc0
  [  +0,000006]  dev_pm_opp_set_rate+0x3d4/0x520
  [  +0,000004]  set_target+0x4c/0x90
  [  +0,000007]  __cpufreq_driver_target+0x2c8/0x678
  [  +0,000004]  od_dbs_update+0x144/0x1a0
  [  +0,000003]  dbs_work_handler+0x48/0x80
  [  +0,000006]  process_one_work+0x1d0/0x468
  [  +0,000005]  worker_thread+0x154/0x4e0
  [  +0,000004]  kthread+0xf0/0x118
  [  +0,000004]  ret_from_fork+0x10/0x18

  non-kernel-version explanations ruled out:
  network adapter is neither idle nor saturated (~32MiB / hour on enxb827eb..)
  4 different power supply models, 2 of them bad but not correlated with 
frequency of hang
  swap size & usage obviously does change system responsiveness, but not 
correlated with frequency of hang
  hang reported with & without use of wifi of device or any other device within 
1m
  hang reported with & without config.txt dtoverlay=disable-wifi (NOT confirmed 
that even works)
  hang reported with cpu_thermal-virtual-0 between 59-67°C (3 copper plates, no 
fan)
  hang reported with & without kernel cmdline memtest=2
  hang reported with & without kernel cmdline dwc_otg.speed=1
  hang reported with firmware-1.20200601 & firmware-1.20201201
  hang reported with /proc/device-tree/model "Raspberry Pi 3 Model B Rev 1.2" & 
"Raspberry Pi 3 Model B Plus Rev 1.3"
  hang reported with & without config.txt enable_uart=1,uart_2ndstage=1
  hang reported with config.txt boot_delay=2 bootcode_delay=2
  hang reported with EFI "rpi3 tianocore 1.27" & "rpi3 tianocore 1.31"

  hang reported with 5.4.0-56-generic usually after a few hours of uptime
  hang reported with 5.4.0-58-generic usually after a few hours of uptime
  hang reported with (hwe-edge) 5.8.0-31-generic usually after a few hours of 
uptime
  hang reported with 5.4.0-59-generic usually after a few hours of uptime
  never seen in versions 5.4.0-26-generic through 5.4.0-53-generic, with one 
notable exception while investigating:
  similiar hang reported with 5.4.0-53-generic if and only if attempting to 
unload i2c_bcm2835 module

  ProblemType: Bug
  DistroRelease: Ubuntu 20.04
  Package: linux-image-5.4.0-58-generic 5.4.0-58.64
  ProcVersionSignature: Ubuntu 5.4.0-58.64-generic 5.4.73
  Uname: Linux 5.4.0-58-generic aarch64
  AlsaVersion: Advanced Linux Sound Architecture Driver Version 
k5.4.0-58-generic.
  AplayDevices: Error: [Errno 2] No such file or directory: 'aplay'
  ApportVersion: 2.20.11-0ubuntu27.14
  Architecture: arm64
  ArecordDevices: Error: [Errno 2] No such file or directory: 'arecord'
  AudioDevicesInUse: Error: command ['fuser', '-v', '/dev/snd/controlC1', 
'/dev/snd/pcmC1D1p', '/dev/snd/pcmC1D0p', '/dev/snd/by-path', '/dev/snd/seq', 
'/dev/snd/controlC0', '/dev/snd/pcmC0D0p', '/dev/snd/timer'] failed with exit 
code 1:
  Card0.Amixer.info: Error: [Errno 2] No such file or directory: 'amixer'
  Card0.Amixer.values: Error: [Errno 2] No such file or directory: 'amixer'
  Card1.Amixer.info: Error: [Errno 2] No such file or directory: 'amixer'
  Card1.Amixer.values: Error: [Errno 2] No such file or directory: 'amixer'
  CasperMD5CheckResult: skip
  Date: Tue Dec 15 16:46:43 2020
  IwConfig: Error: [Errno 2] No such file or directory: 'iwconfig'
  Lspci:

  Lspci-vt: -[0000:00]-
  Lsusb:
   Bus 001 Device 004: ID 046d:c52b Logitech, Inc. Unifying Receiver
   Bus 001 Device 003: ID 0424:ec00 Microchip Technology, Inc. (formerly SMSC) 
SMSC9512/9514 Fast Ethernet Adapter
   Bus 001 Device 002: ID 0424:9514 Microchip Technology, Inc. (formerly SMSC) 
SMC9514 Hub
   Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
  MachineType: Raspberry Pi Foundation Raspberry Pi 3 Model B
  PciMultimedia:

  ProcEnviron:
   TERM=xterm-256color
   PATH=(custom, no user)
   LANG=de_DE.UTF-8
   SHELL=/bin/bash
  ProcFB: 0 vc4drmfb
  ProcKernelCmdLine: BOOT_IMAGE=/vmlinuz-5.4.0-58-generic 
root=UUID=e3bc3b23-fd02-4250-8350-5916df6d6fd1 ro consoleblank=0 
usbcore.authorized_default=0 splash fsck.repair=yes cma=128M ip=dhcp 
printk.devkmsg=on vt.handoff=7
  RelatedPackageVersions:
   linux-restricted-modules-5.4.0-58-generic N/A
   linux-backports-modules-5.4.0-58-generic  N/A
   linux-firmware                            1.187.6
  RfKill: Error: [Errno 2] No such file or directory: 'rfkill'
  SourcePackage: linux
  StagingDrivers: snd_bcm2835 vchiq
  UpgradeStatus: No upgrade log present (probably fresh install)
  acpidump:

  dmi.bios.date: 11/13/2020
  dmi.bios.vendor: https://github.com/pftf/RPi3
  dmi.bios.version: UEFI Firmware v1.31
  dmi.board.name: Raspberry Pi 3 Model B
  dmi.board.vendor: Sony UK
  dmi.board.version: A02082
  dmi.chassis.type: 34
  dmi.chassis.vendor: Sony UK
  dmi.chassis.version: Raspberry Pi 3 Model B
  dmi.modalias: 
dmi:bvnhttps//github.com/pftf/RPi3:bvrUEFIFirmwarev1.31:bd11/13/2020:svnRaspberryPiFoundation:pnRaspberryPi3ModelB:pvrA02082:rvnSonyUK:rnRaspberryPi3ModelB:rvrA02082:cvnSonyUK:ct34:cvrRaspberryPi3ModelB:
  dmi.product.family: Raspberry Pi
  dmi.product.name: Raspberry Pi 3 Model B
  dmi.product.sku: 0000000000A02082
  dmi.product.version: A02082
  dmi.sys.vendor: Raspberry Pi Foundation
  modified.conffile..etc.default.apport: enabled=0
  mtime.conffile..etc.default.apport: 2020-07-06T13:01:13.327228
  ---
  ProblemType: Bug
  AlsaVersion: Advanced Linux Sound Architecture Driver Version 
k5.4.0-59-generic.
  AplayDevices: Error: [Errno 2] No such file or directory: 'aplay'
  ApportVersion: 2.20.11-0ubuntu27.14
  Architecture: arm64
  ArecordDevices: Error: [Errno 2] No such file or directory: 'arecord'
  AudioDevicesInUse: Error: command ['fuser', '-v', '/dev/snd/by-path', 
'/dev/snd/seq', '/dev/snd/controlC0', '/dev/snd/pcmC0D0p', '/dev/snd/timer'] 
failed with exit code 1:
  Card0.Amixer.info: Error: [Errno 2] No such file or directory: 'amixer'
  Card0.Amixer.values: Error: [Errno 2] No such file or directory: 'amixer'
  CasperMD5CheckResult: skip
  DistroRelease: Ubuntu 20.04
  IwConfig: Error: [Errno 2] No such file or directory: 'iwconfig'
  Lspci:

  Lspci-vt: -[0000:00]-
  Lsusb:
   Bus 001 Device 004: ID 046d:c52b Logitech, Inc. Unifying Receiver
   Bus 001 Device 003: ID 0424:ec00 Microchip Technology, Inc. (formerly SMSC) 
SMSC9512/9514 Fast Ethernet Adapter
   Bus 001 Device 002: ID 0424:9514 Microchip Technology, Inc. (formerly SMSC) 
SMC9514 Hub
   Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
  MachineType: Raspberry Pi Foundation Raspberry Pi 3 Model B
  Package: linux (not installed)
  PciMultimedia:

  ProcEnviron:
   TERM=xterm-256color
   PATH=(custom, no user)
   LANG=de_DE.UTF-8
   SHELL=/bin/bash
  ProcFB: 0 vc4drmfb
  ProcKernelCmdLine: BOOT_IMAGE=/vmlinuz-5.4.0-59-generic 
root=UUID=e3bc3b23-fd02-4250-8350-5916df6d6fd1 ro consoleblank=0 
usbcore.authorized_default=0 splash fsck.repair=yes cma=128M ip=dhcp 
printk.devkmsg=on vt.handoff=7
  ProcVersionSignature: Ubuntu 5.4.0-59.65-generic 5.4.78
  RelatedPackageVersions:
   linux-restricted-modules-5.4.0-59-generic N/A
   linux-backports-modules-5.4.0-59-generic  N/A
   linux-firmware                            1.187.6
  RfKill: Error: [Errno 2] No such file or directory: 'rfkill'
  StagingDrivers: snd_bcm2835 vchiq
  Tags:  focal staging
  Uname: Linux 5.4.0-59-generic aarch64
  UpgradeStatus: No upgrade log present (probably fresh install)
  UserGroups: N/A
  _MarkForUpload: True
  acpidump:

  dmi.bios.date: 11/13/2020
  dmi.bios.vendor: https://github.com/pftf/RPi3
  dmi.bios.version: UEFI Firmware v1.31
  dmi.board.name: Raspberry Pi 3 Model B
  dmi.board.vendor: Sony UK
  dmi.board.version: A02082
  dmi.chassis.type: 34
  dmi.chassis.vendor: Sony UK
  dmi.chassis.version: Raspberry Pi 3 Model B
  dmi.modalias: 
dmi:bvnhttps//github.com/pftf/RPi3:bvrUEFIFirmwarev1.31:bd11/13/2020:svnRaspberryPiFoundation:pnRaspberryPi3ModelB:pvrA02082:rvnSonyUK:rnRaspberryPi3ModelB:rvrA02082:cvnSonyUK:ct34:cvrRaspberryPi3ModelB:
  dmi.product.family: Raspberry Pi
  dmi.product.name: Raspberry Pi 3 Model B
  dmi.product.sku: 0000000000A02082
  dmi.product.version: A02082
  dmi.sys.vendor: Raspberry Pi Foundation
  modified.conffile..etc.default.apport: enabled=0
  mtime.conffile..etc.default.apport: 2020-07-06T13:01:13.327228

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