diff --git a/sys/dev/ata/ata-all.c b/sys/dev/ata/ata-all.c
index 88bfc566bf13..05f40c297d0c 100644
--- a/sys/dev/ata/ata-all.c
+++ b/sys/dev/ata/ata-all.c
@@ -1,5 +1,5 @@
 /*-
- * Copyright (c) 1998 - 2003 Søren Schmidt <sos@FreeBSD.org>
+ * Copyright (c) 1998 - 2004 Søren Schmidt <sos@FreeBSD.org>
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -40,7 +40,7 @@ __FBSDID("$FreeBSD$");
 #include <sys/bus.h>
 #include <sys/bio.h>
 #include <sys/malloc.h>
-#include <sys/mutex.h>
+#include <sys/sema.h>
 #include <sys/sysctl.h>
 #include <sys/taskqueue.h>
 #include <machine/stdarg.h>
@@ -60,13 +60,13 @@ static	d_ioctl_t	ata_ioctl;
 static struct cdevsw ata_cdevsw = {  
 	.d_ioctl =	ata_ioctl,
 	.d_name =	"ata",
-	.d_maj =	159,
 };
 
 /* prototypes */
 static void ata_shutdown(void *, int);
 static int ata_getparam(struct ata_device *, u_int8_t);
 static void ata_identify_devices(struct ata_channel *);
+static void ata_fail_requests(struct ata_channel *ch,struct ata_device *device);
 static void ata_boot_attach(void);
 static void bswap(int8_t *, int);
 static void btrim(int8_t *, int);
@@ -175,7 +175,6 @@ int
 ata_detach(device_t dev)
 {
     struct ata_channel *ch;
-    struct ata_request *request;
  
     if (!dev || !(ch = device_get_softc(dev)) || !ch->r_irq)
 	return ENXIO;
@@ -190,16 +189,9 @@ ata_detach(device_t dev)
 #endif
 
     /* fail outstanding requests on this channel */
-    mtx_lock(&ch->queue_mtx);
-    while ((request = TAILQ_FIRST(&ch->ata_queue))) {
-	TAILQ_REMOVE(&ch->ata_queue, request, chain);
-	request->status = ATA_S_ERROR;
-	mtx_unlock(&ch->queue_mtx);
-	ata_finish(request);
-	mtx_lock(&ch->queue_mtx);
-    }
-    mtx_unlock(&ch->queue_mtx);
+    ata_fail_requests(ch, NULL);
 
+    /* flush cache and powerdown device */
     if (ch->device[MASTER].param) {
 	if (ch->device[MASTER].param->support.command2 & ATA_SUPPORT_FLUSHCACHE)
 	    ata_controlcmd(&ch->device[MASTER], ATA_FLUSHCACHE, 0, 0, 0);
@@ -237,42 +229,51 @@ ata_reinit(struct ata_channel *ch)
 	return ENXIO;
 
     /* reset the HW */
-    ata_printf(ch, -1, "resetting devices ..\n");
+    if (bootverbose)
+	ata_printf(ch, -1, "reiniting channel ..\n");
     ATA_FORCELOCK_CH(ch, ATA_CONTROL);
+    ch->flags |= ATA_IMMEDIATE_MODE;
     ch->running = NULL;
     devices = ch->devices;
     ch->hw.reset(ch);
     ATA_UNLOCK_CH(ch);
 
+    if (bootverbose)
+	ata_printf(ch, -1, "resetting done ..\n");
+
     /* detach what left the channel during reset */
     if ((misdev = devices & ~ch->devices)) {
 	if ((misdev & (ATA_ATA_MASTER | ATA_ATAPI_MASTER)) &&
 	    ch->device[MASTER].detach) {
 	    if (request && (request->device == &ch->device[MASTER])) {
 		request->result = ENXIO;
-		request->flags |= ATA_R_DONE;
 		if (request->callback)
 		    (request->callback)(request);
 		else
-        	    wakeup(request);
+        	    sema_post(&request->done);
 	    }
 	    ch->device[MASTER].detach(&ch->device[MASTER]);
+	    ata_fail_requests(ch, &ch->device[MASTER]);
+	    free(ch->device[MASTER].param, M_ATA);
+	    ch->device[MASTER].param = NULL;
 	}
 	if ((misdev & (ATA_ATA_SLAVE | ATA_ATAPI_SLAVE)) &&
 	    ch->device[SLAVE].detach) {
 	    if (request && (request->device == &ch->device[SLAVE])) {
 		request->result = ENXIO;
-		request->flags |= ATA_R_DONE;
 		if (request->callback)
 		    (request->callback)(request);
 		else
-        	    wakeup(request);
+        	    sema_post(&request->done);
 	    }
 	    ch->device[SLAVE].detach(&ch->device[SLAVE]);
+	    ata_fail_requests(ch, &ch->device[SLAVE]);
+	    free(ch->device[SLAVE].param, M_ATA);
+	    ch->device[SLAVE].param = NULL;
 	}
     }
-
-    /* identify whats present on this channel now */
+    
+    /* identify what is present on the channel now */
     ata_identify_devices(ch);
 
     /* attach new devices that appeared during reset */
@@ -285,17 +286,26 @@ ata_reinit(struct ata_channel *ch)
 	    ch->device[SLAVE].attach(&ch->device[SLAVE]);
     }
 
-    /* restore transfermode on devices */
-    if (ch->devices & (ATA_ATA_MASTER | ATA_ATAPI_MASTER))
+    /* restore device config and transfermode on devices */
+    if (ch->devices & (ATA_ATA_MASTER | ATA_ATAPI_MASTER)) {
+	if (ch->device[MASTER].config)
+	    ch->device[MASTER].config(&ch->device[MASTER]);
 	ch->device[MASTER].setmode(&ch->device[MASTER],ch->device[MASTER].mode);
-    if (ch->devices & (ATA_ATA_SLAVE | ATA_ATAPI_SLAVE))
+    }
+    if (ch->devices & (ATA_ATA_SLAVE | ATA_ATAPI_SLAVE)) {
+	if (ch->device[SLAVE].config)
+	    ch->device[SLAVE].config(&ch->device[SLAVE]);
 	ch->device[SLAVE].setmode(&ch->device[SLAVE], ch->device[SLAVE].mode);
+    }
 
 #ifdef DEV_ATAPICAM
     atapi_cam_reinit_bus(ch);
 #endif
 
-    printf("done\n");
+    if (bootverbose)
+	ata_printf(ch, -1, "device config done ..\n");
+    ch->flags &= ~ATA_IMMEDIATE_MODE;
+    ata_start(ch);
     return 0;
 }
 
@@ -543,21 +553,18 @@ ata_ioctl(dev_t dev, u_long cmd, caddr_t addr, int32_t flag, struct thread *td)
 static int 
 ata_getparam(struct ata_device *atadev, u_int8_t command)
 {
-    struct ata_params *atacap;
     struct ata_request *request;
     int error = ENOMEM;
 
-    if (atadev->param)
-	atacap = atadev->param;
-    else
-	atacap = malloc(sizeof(struct ata_params), M_ATA, M_NOWAIT);
-    if (atacap) {
+    if (!atadev->param)
+	atadev->param = malloc(sizeof(struct ata_params), M_ATA, M_NOWAIT);
+    if (atadev->param) {
 	request = ata_alloc_request(); 
 	if (request) {
 	    request->device = atadev;
 	    request->u.ata.command = command;
-	    request->flags = (ATA_R_READ | ATA_R_QUIET);
-	    request->data = (caddr_t)atacap;
+	    request->flags = (ATA_R_READ | ATA_R_AT_HEAD);
+	    request->data = (caddr_t)atadev->param;
 	    request->timeout = 2;
 	    request->retries = 3;
 	    request->bytecount = sizeof(struct ata_params);
@@ -566,18 +573,19 @@ ata_getparam(struct ata_device *atadev, u_int8_t command)
 		ata_queue_request(request);
 		if (!(error = request->result))
 		    break;
-		request->flags &= ~ATA_R_QUIET;
 		request->retries--;
 	    }
 	    ata_free_request(request);
 	}
-	if (!isprint(atacap->model[0]) || !isprint(atacap->model[1]))
+	if (!isprint(atadev->param->model[0]) ||
+	    !isprint(atadev->param->model[1]))
 	    error = ENXIO;
 	if (error) {
+	    free(atadev->param, M_ATA);
 	    atadev->param = NULL;
-	    free(atacap, M_ATA);
 	}
 	else {
+	    struct ata_params *atacap = atadev->param;
 #if BYTE_ORDER == BIG_ENDIAN
 	    int16_t *ptr;
 
@@ -598,7 +606,6 @@ ata_getparam(struct ata_device *atadev, u_int8_t command)
 	    bswap(atacap->serial, sizeof(atacap->serial));
 	    btrim(atacap->serial, sizeof(atacap->serial));
 	    bpack(atacap->serial, atacap->serial, sizeof(atacap->serial));
-	    atadev->param = atacap;
 	    if (bootverbose)
 		ata_prtdev(atadev,
 			   "pio=0x%02x wdma=0x%02x udma=0x%02x cable=%spin\n",
@@ -694,6 +701,24 @@ ata_identify_devices(struct ata_channel *ch)
     }
 }
 
+static void
+ata_fail_requests(struct ata_channel *ch, struct ata_device *device)
+{
+    struct ata_request *request;
+
+    mtx_lock(&ch->queue_mtx);
+    while ((request = TAILQ_FIRST(&ch->ata_queue))) {
+	if (device == NULL || request->device == device) {
+	    TAILQ_REMOVE(&ch->ata_queue, request, chain);
+	    request->result = ENXIO;
+	    mtx_unlock(&ch->queue_mtx);
+	    ata_finish(request);
+	    mtx_lock(&ch->queue_mtx);
+	}
+    }
+    mtx_unlock(&ch->queue_mtx);
+}
+
 static void 
 ata_boot_attach(void)
 {
@@ -964,12 +989,12 @@ ata_init(void)
 	printf("ata: malloc of delayed attach hook failed\n");
 	return;
     }
-
     ata_delayed_attach->ich_func = (void*)ata_boot_attach;
     if (config_intrhook_establish(ata_delayed_attach) != 0) {
 	printf("ata: config_intrhook_establish failed\n");
 	free(ata_delayed_attach, M_TEMP);
     }
+
     /* Register a handler to flush write caches on shutdown */
     if ((EVENTHANDLER_REGISTER(shutdown_post_sync, ata_shutdown,
 			       NULL, SHUTDOWN_PRI_DEFAULT)) == NULL)
diff --git a/sys/dev/ata/ata-all.h b/sys/dev/ata/ata-all.h
index 18cf77817108..821d17cd0a40 100644
--- a/sys/dev/ata/ata-all.h
+++ b/sys/dev/ata/ata-all.h
@@ -1,5 +1,5 @@
 /*-
- * Copyright (c) 1998 - 2003 Søren Schmidt <sos@FreeBSD.org>
+ * Copyright (c) 1998 - 2004 Søren Schmidt <sos@FreeBSD.org>
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -182,21 +182,25 @@ struct ata_request {
     u_int32_t			donecount;	/* bytes transferred */
     caddr_t			data;		/* pointer to data buf */
     int				flags;
-#define		ATA_R_DONE		0x0001
-#define		ATA_R_CONTROL		0x0002
-#define		ATA_R_READ		0x0004
-#define		ATA_R_WRITE		0x0008
+#define		ATA_R_CONTROL		0x0001
+#define		ATA_R_READ		0x0002
+#define		ATA_R_WRITE		0x0004
+#define		ATA_R_DMA		0x0008
 
 #define		ATA_R_ATAPI		0x0010
 #define		ATA_R_QUIET		0x0020
-#define		ATA_R_DMA		0x0040
+#define		ATA_R_INTR_SEEN		0x0040
+#define		ATA_R_TIMEOUT		0x0080
 
 #define		ATA_R_ORDERED		0x0100
 #define		ATA_R_AT_HEAD		0x0200
 #define		ATA_R_REQUEUE		0x0400
 #define		ATA_R_SKIPSTART		0x0800
 
+#define		ATA_R_DEBUG		0x1000
+
     void			(*callback)(struct ata_request *request);
+    struct sema			done;		/* request done sema */
     int				retries;	/* retry count */
     int				timeout;	/* timeout for this cmd */
     struct callout_handle	timeout_handle; /* handle for untimeout */
@@ -206,6 +210,19 @@ struct ata_request {
     TAILQ_ENTRY(ata_request)	chain;		/* list management */
 };
 
+/* define this for debugging request processing */
+#if 0
+#define ATA_DEBUG_RQ(request, string) \
+    { \
+    if (request->flags & ATA_R_DEBUG) \
+        ata_prtdev(request->device, "req=%08x %s " string "\n", \
+                   (u_int)request, ata_cmd2str(request)); \
+    }
+#else
+#define ATA_DEBUG_RQ(request, string)
+#endif
+
+
 /* structure describing an ATA/ATAPI device */
 struct ata_device {
     struct ata_channel		*channel;
@@ -218,6 +235,7 @@ struct ata_device {
     void			*softc;		/* ptr to softc for device */
     void			(*attach)(struct ata_device *atadev);
     void			(*detach)(struct ata_device *atadev);
+    void			(*config)(struct ata_device *atadev);
     void			(*start)(struct ata_device *atadev);
     int				flags;
 #define		ATA_D_USE_CHS		0x0001
@@ -289,6 +307,7 @@ struct ata_channel {
 #define		ATA_USE_PC98GEOM	0x04
 #define		ATA_ATAPI_DMA_RO	0x08
 #define		ATA_48BIT_ACTIVE	0x10
+#define		ATA_IMMEDIATE_MODE	0x20
 
     struct ata_device		device[2];	/* devices on this channel */
 #define		MASTER			0x00
@@ -305,11 +324,12 @@ struct ata_channel {
 #define		ATA_ACTIVE		0x0001
 #define		ATA_CONTROL		0x0002
 
+    void (*reset)(struct ata_channel *);
     void (*locking)(struct ata_channel *, int);
 #define		ATA_LF_LOCK		0x0001
 #define		ATA_LF_UNLOCK		0x0002
 
-    struct mtx			queue_mtx;
+    struct mtx			queue_mtx;	/* queue lock */
     TAILQ_HEAD(, ata_request)	ata_queue;	/* head of ATA queue */
     void			*running;	/* currently running request */
 };
diff --git a/sys/dev/ata/ata-card.c b/sys/dev/ata/ata-card.c
index 220c5d059a37..08b172b2ad48 100644
--- a/sys/dev/ata/ata-card.c
+++ b/sys/dev/ata/ata-card.c
@@ -1,5 +1,5 @@
 /*-
- * Copyright (c) 1998 - 2003 Søren Schmidt <sos@FreeBSD.org>
+ * Copyright (c) 1998 - 2004 Søren Schmidt <sos@FreeBSD.org>
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -36,6 +36,7 @@ __FBSDID("$FreeBSD$");
 #include <sys/module.h>
 #include <sys/bus.h>
 #include <sys/malloc.h>
+#include <sys/sema.h>
 #include <sys/taskqueue.h>
 #include <machine/stdarg.h>
 #include <machine/resource.h>
diff --git a/sys/dev/ata/ata-cbus.c b/sys/dev/ata/ata-cbus.c
index 3fa82b2b56be..8f065c144682 100644
--- a/sys/dev/ata/ata-cbus.c
+++ b/sys/dev/ata/ata-cbus.c
@@ -1,5 +1,5 @@
 /*-
- * Copyright (c) 2002, 2003 Søren Schmidt <sos@FreeBSD.org>
+ * Copyright (c) 2002 - 2004 Søren Schmidt <sos@FreeBSD.org>
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -36,6 +36,7 @@ __FBSDID("$FreeBSD$");
 #include <sys/ata.h>
 #include <sys/bus.h>
 #include <sys/malloc.h>
+#include <sys/sema.h>
 #include <sys/taskqueue.h>
 #include <machine/resource.h>
 #include <machine/bus.h>
@@ -144,7 +145,7 @@ ata_cbus_attach(device_t dev)
 	return ENXIO;
     }
 
-    if ((bus_setup_intr(dev, ctlr->irq, INTR_TYPE_BIO | INTR_ENTROPY,
+    if ((bus_setup_intr(dev, ctlr->irq, ATA_INTR_FLAGS,
 			ata_cbus_intr, ctlr, &ctlr->ih))) {
 	device_printf(dev, "unable to setup interrupt\n");
 	bus_release_resource(dev, SYS_RES_IOPORT, ATA_IOADDR_RID, ctlr->io);
diff --git a/sys/dev/ata/ata-chipset.c b/sys/dev/ata/ata-chipset.c
index 8f07c40be2f4..2aae069d6116 100644
--- a/sys/dev/ata/ata-chipset.c
+++ b/sys/dev/ata/ata-chipset.c
@@ -1,5 +1,5 @@
 /*-
- * Copyright (c) 1998 - 2003 Søren Schmidt <sos@FreeBSD.org>
+ * Copyright (c) 1998 - 2004 Søren Schmidt <sos@FreeBSD.org>
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -37,6 +37,7 @@ __FBSDID("$FreeBSD$");
 #include <sys/ata.h>
 #include <sys/bus.h>
 #include <sys/malloc.h>
+#include <sys/sema.h>
 #include <sys/taskqueue.h>
 #include <machine/stdarg.h>
 #include <machine/resource.h>
@@ -99,6 +100,7 @@ static int ata_serverworks_chipinit(device_t);
 static void ata_serverworks_setmode(struct ata_device *, int);
 static int ata_sii_chipinit(device_t);
 static int ata_sii_mio_allocate(device_t, struct ata_channel *);
+static void ata_sii_reset(struct ata_channel *);
 static void ata_sii_intr(void *);
 static void ata_cmd_intr(void *);
 static void ata_cmd_old_intr(void *);
@@ -1622,6 +1624,7 @@ ata_sii_chipinit(device_t dev)
 	    device_printf(dev, "unable to setup interrupt\n");
 	    return ENXIO;
 	}
+
 	rid = 0x24;
 	if (!(ctlr->r_io2 = bus_alloc_resource(dev, SYS_RES_MEMORY, &rid,
 					       0, ~0, 1, RF_ACTIVE)))
@@ -1650,10 +1653,8 @@ ata_sii_chipinit(device_t dev)
 	pci_write_config(dev, 0xec, 0x40094009, 4);
 
 	ctlr->allocate = ata_sii_mio_allocate;
-	if (ctlr->chip->max_dma >= ATA_SA150) {
+	if (ctlr->chip->max_dma >= ATA_SA150)
 	    ctlr->setmode = ata_sata_setmode;
-	    ctlr->locking = ata_serialize;
-	}
 	else
 	    ctlr->setmode = ata_sii_setmode;
     }
@@ -1699,16 +1700,30 @@ ata_sii_mio_allocate(device_t dev, struct ata_channel *ch)
     ch->r_io[ATA_BMDTP_PORT].offset = 0x04 + (ch->unit << 3);
     ch->r_io[ATA_BMDEVSPEC_0].res = ctlr->r_io2;
     ch->r_io[ATA_BMDEVSPEC_0].offset = 0xa1 + (ch->unit << 6);
+    ch->r_io[ATA_BMDEVSPEC_1].res = ctlr->r_io2;
+    ch->r_io[ATA_BMDEVSPEC_1].offset = 0x100 + (ch->unit << 7);
     ch->r_io[ATA_IDX_ADDR].res = ctlr->r_io2;
 
     if (ctlr->chip->max_dma >= ATA_SA150)
 	ch->flags |= ATA_NO_SLAVE;
+
     ctlr->dmainit(ch);
     if (ctlr->chip->cfg2 & SIIBUG)
 	ch->dma->boundary = 8 * 1024;
+
+    ch->reset = ata_sii_reset;
+
     return 0;
 }
 
+static void
+ata_sii_reset(struct ata_channel *ch)
+{
+    ATA_IDX_OUTL(ch, ATA_BMDEVSPEC_1, 0x00000001);
+    DELAY(25000);
+    ATA_IDX_OUTL(ch, ATA_BMDEVSPEC_1, 0x00000000);
+}
+
 static void
 ata_sii_intr(void *data)
 {
@@ -1724,8 +1739,7 @@ ata_sii_intr(void *data)
 	    if (ch->dma) {
 		int bmstat = ATA_IDX_INB(ch, ATA_BMSTAT_PORT) & ATA_BMSTAT_MASK;
 
-		if ((bmstat & (ATA_BMSTAT_ACTIVE | ATA_BMSTAT_INTERRUPT)) !=
-		    ATA_BMSTAT_INTERRUPT)
+		if (!(bmstat & ATA_BMSTAT_INTERRUPT))
 		    continue;
 		ATA_IDX_OUTB(ch, ATA_BMSTAT_PORT, bmstat & ~ATA_BMSTAT_ERROR);
 		DELAY(1);
diff --git a/sys/dev/ata/ata-disk.c b/sys/dev/ata/ata-disk.c
index 5c056ff7cb44..99532681c8c4 100644
--- a/sys/dev/ata/ata-disk.c
+++ b/sys/dev/ata/ata-disk.c
@@ -1,5 +1,5 @@
 /*-
- * Copyright (c) 1998 - 2003 Søren Schmidt <sos@FreeBSD.org>
+ * Copyright (c) 1998 - 2004 Søren Schmidt <sos@FreeBSD.org>
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -41,6 +41,7 @@ __FBSDID("$FreeBSD$");
 #include <sys/disk.h>
 #include <sys/cons.h>
 #include <sys/sysctl.h>
+#include <sys/sema.h>
 #include <sys/taskqueue.h>
 #include <vm/vm.h>
 #include <vm/pmap.h>
@@ -55,6 +56,7 @@ __FBSDID("$FreeBSD$");
 
 /* prototypes */
 static void ad_detach(struct ata_device *);
+static void ad_config(struct ata_device *);
 static void ad_start(struct ata_device *);
 static void ad_done(struct ata_request *);
 static disk_open_t adopen;
@@ -79,7 +81,9 @@ ad_attach(struct ata_device *atadev)
 	atadev->attach = NULL;
 	return;
     }
+    atadev->softc = adp;
     adp->device = atadev;
+
 #ifdef ATA_STATIC_ID
     adp->lun = (device_get_unit(atadev->channel->dev)<<1)+ATA_DEV(atadev->unit);
 #else
@@ -119,30 +123,16 @@ ad_attach(struct ata_device *atadev)
 	lbasize48 > 268435455)
 	adp->total_secs = lbasize48;
 
-    /* enable read caching */
-    ata_controlcmd(atadev, ATA_SETFEATURES, ATA_SF_ENAB_RCACHE, 0, 0);
-
-    /* enable write caching if enabled */
-    if (ata_wc)
-	ata_controlcmd(atadev, ATA_SETFEATURES, ATA_SF_ENAB_WCACHE, 0, 0);
-    else
-	ata_controlcmd(atadev, ATA_SETFEATURES, ATA_SF_DIS_WCACHE, 0, 0);
-
-    /* use multiple sectors/interrupt if device supports it */
-    adp->max_iosize = DEV_BSIZE;
-    if (ad_version(atadev->param->version_major)) {
-	int secsperint = max(1, min(atadev->param->sectors_intr, 16));
-
-	if (!ata_controlcmd(atadev, ATA_SET_MULTI, 0, 0, secsperint))
-	    adp->max_iosize = secsperint * DEV_BSIZE;
-    }
-
     /* setup the function ptrs */
     atadev->detach = ad_detach;
+    atadev->config = ad_config;
     atadev->start = ad_start;
-    atadev->softc = adp;
+
+    /* config device features */
+    ad_config(atadev);
 
     /* lets create the disk device */
+    adp->max_iosize = DEV_BSIZE;
     adp->disk.d_open = adopen;
     adp->disk.d_strategy = adstrategy;
     adp->disk.d_dump = addump;
@@ -191,6 +181,30 @@ ad_detach(struct ata_device *atadev)
     free(adp, M_AD);
 }
 
+static void
+ad_config(struct ata_device *atadev)
+{
+    struct ad_softc *adp = atadev->softc;
+
+    /* enable read caching */
+    ata_controlcmd(atadev, ATA_SETFEATURES, ATA_SF_ENAB_RCACHE, 0, 0);
+
+    /* enable write caching if enabled */
+    if (ata_wc)
+	ata_controlcmd(atadev, ATA_SETFEATURES, ATA_SF_ENAB_WCACHE, 0, 0);
+    else
+	ata_controlcmd(atadev, ATA_SETFEATURES, ATA_SF_DIS_WCACHE, 0, 0);
+
+    /* use multiple sectors/interrupt if device supports it */
+    adp->max_iosize = DEV_BSIZE;
+    if (ad_version(atadev->param->version_major)) {
+	int secsperint = max(1, min(atadev->param->sectors_intr, 16));
+
+	if (!ata_controlcmd(atadev, ATA_SET_MULTI, 0, 0, secsperint))
+	    adp->max_iosize = secsperint * DEV_BSIZE;
+    }
+}
+
 static int
 adopen(struct disk *dp)
 {
@@ -243,7 +257,7 @@ ad_start(struct ata_device *atadev)
     request->device = atadev;
     request->driver = bp;
     request->callback = ad_done;
-    request->timeout = 10;
+    request->timeout = 5;
     request->retries = 2;
     request->data = bp->bio_data;
     request->bytecount = bp->bio_bcount;
diff --git a/sys/dev/ata/ata-dma.c b/sys/dev/ata/ata-dma.c
index 1637f20714c5..f22cb8a2593b 100644
--- a/sys/dev/ata/ata-dma.c
+++ b/sys/dev/ata/ata-dma.c
@@ -1,5 +1,5 @@
 /*-
- * Copyright (c) 1998 - 2003 Søren Schmidt <sos@FreeBSD.org>
+ * Copyright (c) 1998 - 2004 Søren Schmidt <sos@FreeBSD.org>
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -36,7 +36,7 @@ __FBSDID("$FreeBSD$");
 #include <sys/endian.h>
 #include <sys/malloc.h> 
 #include <sys/lock.h>
-#include <sys/mutex.h>
+#include <sys/sema.h>
 #include <sys/taskqueue.h>
 #include <sys/bus.h>
 #include <machine/bus.h>
diff --git a/sys/dev/ata/ata-isa.c b/sys/dev/ata/ata-isa.c
index f4e9ec88213f..dcbd8f1bcf9e 100644
--- a/sys/dev/ata/ata-isa.c
+++ b/sys/dev/ata/ata-isa.c
@@ -1,5 +1,5 @@
 /*-
- * Copyright (c) 1998 - 2003 Søren Schmidt <sos@FreeBSD.org>
+ * Copyright (c) 1998 - 2004 Søren Schmidt <sos@FreeBSD.org>
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -37,6 +37,7 @@ __FBSDID("$FreeBSD$");
 #include <sys/module.h>
 #include <sys/bus.h>
 #include <sys/malloc.h>
+#include <sys/sema.h>
 #include <sys/taskqueue.h>
 #include <machine/stdarg.h>
 #include <machine/resource.h>
diff --git a/sys/dev/ata/ata-lowlevel.c b/sys/dev/ata/ata-lowlevel.c
index c3837f80f44b..39eeb9aea0fc 100644
--- a/sys/dev/ata/ata-lowlevel.c
+++ b/sys/dev/ata/ata-lowlevel.c
@@ -1,5 +1,5 @@
 /*-
- * Copyright (c) 1998 - 2003 Søren Schmidt <sos@FreeBSD.org>
+ * Copyright (c) 1998 - 2004 Søren Schmidt <sos@FreeBSD.org>
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -36,7 +36,7 @@ __FBSDID("$FreeBSD$");
 #include <sys/kernel.h>
 #include <sys/conf.h>
 #include <sys/bus.h>
-#include <sys/mutex.h>
+#include <sys/sema.h>
 #include <sys/taskqueue.h>
 #include <machine/bus.h>
 #include <sys/rman.h>
@@ -69,9 +69,17 @@ ata_generic_hw(struct ata_channel *ch)
 static int
 ata_transaction(struct ata_request *request)
 {
+    /* safety check, device might have been detached FIXME SOS */
+    if (!request->device->param) {
+	request->result = ENXIO;
+	return ATA_OP_FINISHED;
+    }
+
     /* record the request as running */
     request->device->channel->running = request;
 
+    ATA_DEBUG_RQ(request, "transaction");
+
     /* disable ATAPI DMA writes if HW doesn't support it */
     if ((request->device->channel->flags & ATA_ATAPI_DMA_RO) &&
 	((request->flags & (ATA_R_ATAPI | ATA_R_DMA | ATA_R_WRITE)) ==
@@ -83,7 +91,7 @@ ata_transaction(struct ata_request *request)
     /* ATA PIO data transfer and control commands */
     default:
 	{
-	/* record command direction here as our request might be done later */
+	/* record command direction here as our request might be gone later */
 	int write = (request->flags & ATA_R_WRITE);
 
 	    /* issue command */
@@ -106,6 +114,7 @@ ata_transaction(struct ata_request *request)
 		ata_pio_write(request, request->transfersize);
 	    }
 	}
+	
 	/* return and wait for interrupt */
 	return ATA_OP_CONTINUES;
 
@@ -136,6 +145,7 @@ ata_transaction(struct ata_request *request)
 	    request->result = EIO;
 	    break;
 	}
+
 	/* return and wait for interrupt */
 	return ATA_OP_CONTINUES;
 
@@ -294,16 +304,23 @@ ata_interrupt(void *data)
 	return;
     }
 
+    ATA_DEBUG_RQ(request, "interrupt");
+
     /* ignore interrupt if device is busy */
-    if (ATA_IDX_INB(ch, ATA_ALTSTAT) & ATA_S_BUSY) {
+    if (!(request->flags & ATA_R_TIMEOUT) &&
+	ATA_IDX_INB(ch, ATA_ALTSTAT) & ATA_S_BUSY) {
 	DELAY(100);
 	if (!(ATA_IDX_INB(ch, ATA_ALTSTAT) & ATA_S_DRQ))
 	    return;
     }
 
+    ATA_DEBUG_RQ(request, "interrupt accepted");
+
     /* clear interrupt and get status */
     request->status = ATA_IDX_INB(ch, ATA_STATUS);
 
+    request->flags |= ATA_R_INTR_SEEN;
+
     switch (request->flags & (ATA_R_ATAPI | ATA_R_DMA | ATA_R_CONTROL)) {
 
     /* ATA PIO data transfer and control commands */
@@ -492,6 +509,13 @@ ata_interrupt(void *data)
 	break;
     }
 
+    /* if we timed out, we hold on to the channel, ata_reinit() will unlock */
+    if (request->flags & ATA_R_TIMEOUT) {
+	ata_finish(request);
+	return;
+    }
+
+    /* schedule completition for this request */
     ata_finish(request);
 
     /* unlock the ATA channel for new work */
@@ -529,7 +553,7 @@ ata_reset(struct ata_channel *ch)
 	}
     }
 
-    /* if nothing showed up no need to get any further */
+    /* if nothing showed up there is no need to get any further */
     /* SOS is that too strong?, we just might loose devices here XXX */
     ch->devices = 0;
     if (!mask)
@@ -539,7 +563,11 @@ ata_reset(struct ata_channel *ch)
 	ata_printf(ch, -1, "reset tp1 mask=%02x ostat0=%02x ostat1=%02x\n",
 		   mask, ostat0, ostat1);
 
-    /* reset channel */
+    /* reset host end of channel (if supported) */
+    if (ch->reset)
+	ch->reset(ch);
+
+    /* reset (both) devices on this channel */
     ATA_IDX_OUTB(ch, ATA_DRIVE, ATA_D_IBM | ATA_MASTER);
     DELAY(10);
     ATA_IDX_OUTB(ch, ATA_ALTSTAT, ATA_A_IDS | ATA_A_RESET);
@@ -617,6 +645,10 @@ ata_reset(struct ata_channel *ch)
 	DELAY(100000);
     }	
 
+    /* enable interrupt */
+    DELAY(10);
+    ATA_IDX_OUTB(ch, ATA_ALTSTAT, ATA_A_4BIT);
+
     if (stat0 & ATA_S_BUSY)
 	mask &= ~0x01;
     if (stat1 & ATA_S_BUSY)
@@ -627,41 +659,6 @@ ata_reset(struct ata_channel *ch)
 		   "reset tp2 mask=%02x stat0=%02x stat1=%02x devices=0x%b\n",
 		   mask, stat0, stat1, ch->devices,
 		   "\20\4ATAPI_SLAVE\3ATAPI_MASTER\2ATA_SLAVE\1ATA_MASTER");
-#if 0
-    if (!mask)
-	return;
-
-    if (mask & 0x01 && ostat0 != 0x00 &&
-        !(ch->devices & (ATA_ATA_MASTER | ATA_ATAPI_MASTER))) {
-	ATA_IDX_OUTB(ch, ATA_DRIVE, ATA_D_IBM | ATA_MASTER);
-	DELAY(10);
-	ATA_IDX_OUTB(ch, ATA_ERROR, 0x58);
-	ATA_IDX_OUTB(ch, ATA_CYL_LSB, 0xa5);
-	err = ATA_IDX_INB(ch, ATA_ERROR);
-	lsb = ATA_IDX_INB(ch, ATA_CYL_LSB);
-	if (bootverbose)
-	    ata_printf(ch, ATA_MASTER, "ATA err=0x%02x lsb=0x%02x\n", err, lsb);
-	if (err != 0x58 && lsb == 0xa5)
-	    ch->devices |= ATA_ATA_MASTER;
-    }
-    if (mask & 0x02 && ostat1 != 0x00 &&
-	!(ch->devices & (ATA_ATA_SLAVE | ATA_ATAPI_SLAVE))) {
-	ATA_IDX_OUTB(ch, ATA_DRIVE, ATA_D_IBM | ATA_SLAVE);
-	DELAY(10);
-	ATA_IDX_OUTB(ch, ATA_ERROR, 0x58);
-	ATA_IDX_OUTB(ch, ATA_CYL_LSB, 0xa5);
-	err = ATA_IDX_INB(ch, ATA_ERROR);
-	lsb = ATA_IDX_INB(ch, ATA_CYL_LSB);
-	if (bootverbose)
-	    ata_printf(ch, ATA_SLAVE, "ATA err=0x%02x lsb=0x%02x\n", err, lsb);
-	if (err != 0x58 && lsb == 0xa5)
-	    ch->devices |= ATA_ATA_SLAVE;
-    }
-
-    if (bootverbose)
-	ata_printf(ch, -1, "reset tp3 devices=0x%b\n", ch->devices,
-		   "\20\4ATAPI_SLAVE\3ATAPI_MASTER\2ATA_SLAVE\1ATA_MASTER");
-#endif
 }
 
 static int
@@ -736,9 +733,6 @@ ata_command(struct ata_device *atadev, u_int8_t command,
 	return -1;
     }
 
-    /* enable interrupt */
-    ATA_IDX_OUTB(atadev->channel, ATA_ALTSTAT, ATA_A_4BIT);
-
     /* only use 48bit addressing if needed (avoid bugs and overhead) */
     if ((lba > 268435455 || count > 256) && atadev->param && 
 	atadev->param->support.command2 & ATA_SUPPORT_ADDRESS48) {
diff --git a/sys/dev/ata/ata-pci.c b/sys/dev/ata/ata-pci.c
index 027556de2bfb..79a8eda494d6 100644
--- a/sys/dev/ata/ata-pci.c
+++ b/sys/dev/ata/ata-pci.c
@@ -1,5 +1,5 @@
 /*-
- * Copyright (c) 1998 - 2003 Søren Schmidt <sos@FreeBSD.org>
+ * Copyright (c) 1998 - 2004 Søren Schmidt <sos@FreeBSD.org>
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -36,6 +36,7 @@ __FBSDID("$FreeBSD$");
 #include <sys/module.h>
 #include <sys/bus.h>
 #include <sys/malloc.h>
+#include <sys/sema.h>
 #include <sys/taskqueue.h>
 #include <machine/stdarg.h>
 #include <machine/resource.h>
diff --git a/sys/dev/ata/ata-queue.c b/sys/dev/ata/ata-queue.c
index 6fd30fcdd587..415d398567a5 100644
--- a/sys/dev/ata/ata-queue.c
+++ b/sys/dev/ata/ata-queue.c
@@ -1,5 +1,5 @@
 /*-
- * Copyright (c) 1998 - 2003 Søren Schmidt <sos@FreeBSD.org>
+ * Copyright (c) 1998 - 2004 Søren Schmidt <sos@FreeBSD.org>
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -37,8 +37,7 @@ __FBSDID("$FreeBSD$");
 #include <sys/malloc.h>
 #include <sys/bus.h>
 #include <sys/conf.h>
-#include <sys/lock.h>
-#include <sys/mutex.h>
+#include <sys/sema.h>
 #include <sys/taskqueue.h>
 #include <machine/bus.h>
 #include <sys/rman.h>
@@ -51,7 +50,6 @@ static char *ata_skey2str(u_int8_t);
 
 /* local vars */
 static MALLOC_DEFINE(M_ATA_REQ, "ATA request", "ATA request");
-static int atadebug = 0;
 
 /*
  * ATA request related functions
@@ -64,42 +62,65 @@ ata_alloc_request(void)
     request = malloc(sizeof(struct ata_request), M_ATA_REQ, M_NOWAIT | M_ZERO);
     if (!request)
 	printf("FAILURE - malloc ATA request failed\n");
+    sema_init(&request->done, 0, "ATA request done");
     return request;
 }
 
 void
 ata_free_request(struct ata_request *request)
 {
+    sema_destroy(&request->done);
     free(request, M_ATA_REQ);
 }
 
 void
 ata_queue_request(struct ata_request *request)
 {
-    /* mark request as virgin (it might be a reused one) */
+    /* mark request as virgin (it might be a retry) */
     request->result = request->status = request->error = 0;
-    request->flags &= ~ATA_R_DONE;
 
-    /* put request on the locked queue at the specified location */
-    mtx_lock(&request->device->channel->queue_mtx);
-    if (request->flags & ATA_R_AT_HEAD)
-	TAILQ_INSERT_HEAD(&request->device->channel->ata_queue, request, chain);
-    else
-	TAILQ_INSERT_TAIL(&request->device->channel->ata_queue, request, chain);
-    mtx_unlock(&request->device->channel->queue_mtx);
+    if (request->device->channel->flags & ATA_IMMEDIATE_MODE) {
 
-    /* should we skip start ? */
-    if (!(request->flags & ATA_R_SKIPSTART))
-	ata_start(request->device->channel);
+	// request->flags |= ATA_R_DEBUG;
 
-    /* if this was a requeue op callback/sleep already setup */
-    if (request->flags & ATA_R_REQUEUE)
-	return;
+	/* arm timeout */
+	if (!request->timeout_handle.callout && !dumping) {
+	    request->timeout_handle =
+		timeout((timeout_t*)ata_timeout, request, request->timeout*hz);
+	}
 
-    /* if this is not a callback and we havn't seen DONE yet -> sleep */
-    if (!request->callback) {
-	while (!(request->flags & ATA_R_DONE))
-	    tsleep(request, PRIBIO, "atareq", hz/10);
+	/* kick HW into action */
+	if (request->device->channel->hw.transaction(request) ==
+	    ATA_OP_CONTINUES) {
+	    ATA_DEBUG_RQ(request, "wait for completition");
+	    sema_wait(&request->done);
+	}
+    }
+    else  {
+	/* put request on the locked queue at the specified location */
+	mtx_lock(&request->device->channel->queue_mtx);
+	if (request->flags & ATA_R_AT_HEAD)
+	    TAILQ_INSERT_HEAD(&request->device->channel->ata_queue,
+			      request, chain);
+	else
+	    TAILQ_INSERT_TAIL(&request->device->channel->ata_queue,
+			      request, chain);
+	mtx_unlock(&request->device->channel->queue_mtx);
+
+	ATA_DEBUG_RQ(request, "queued");
+
+	/* should we skip start ? */
+	if (!(request->flags & ATA_R_SKIPSTART))
+	    ata_start(request->device->channel);
+
+	/* if this is a requeued request callback/sleep is already setup */
+	if (request->flags & ATA_R_REQUEUE)
+	    return;
+	/* if this is not a callback wait until request is completed */
+	if (!request->callback) {
+	    ATA_DEBUG_RQ(request, "wait for completition");
+	    sema_wait(&request->done);
+	}
     }
 }
 
@@ -156,14 +177,16 @@ ata_start(struct ata_channel *ch)
 {
     struct ata_request *request;
 
+    /* if in immediate mode, just skip start requests (stall queue) */
+    if (ch->flags & ATA_IMMEDIATE_MODE)
+	return;
+
     /* lock the ATA HW for this request */
     ch->locking(ch, ATA_LF_LOCK);
     if (!ATA_LOCK_CH(ch, ATA_ACTIVE)) {
 	return;
     }
 
-if (atadebug && mtx_owned(&Giant)) printf("ata_start holds GIANT!!!\n");
-
     /* if we dont have any work, ask the subdriver(s) */
     mtx_lock(&ch->queue_mtx);
     if (TAILQ_EMPTY(&ch->ata_queue)) {
@@ -178,6 +201,8 @@ if (atadebug && mtx_owned(&Giant)) printf("ata_start holds GIANT!!!\n");
 	TAILQ_REMOVE(&ch->ata_queue, request, chain);
 	mtx_unlock(&ch->queue_mtx);
 
+	ATA_DEBUG_RQ(request, "starting");
+
 	/* arm timeout */
 	if (!request->timeout_handle.callout && !dumping) {
 	    request->timeout_handle =
@@ -188,8 +213,6 @@ if (atadebug && mtx_owned(&Giant)) printf("ata_start holds GIANT!!!\n");
 	if (ch->hw.transaction(request) == ATA_OP_CONTINUES)
 	    return;
 
-	/* untimeout request */
-	untimeout((timeout_t *)ata_timeout, request, request->timeout_handle);
 	ata_finish(request);
     }
     else
@@ -202,9 +225,16 @@ if (atadebug && mtx_owned(&Giant)) printf("ata_start holds GIANT!!!\n");
 void
 ata_finish(struct ata_request *request)
 {
+    ATA_DEBUG_RQ(request, "taskqueue completition");
+
     /* request is done schedule it for completition */
-    TASK_INIT(&request->task, 0, ata_completed, request);
-    taskqueue_enqueue(taskqueue_swi, &request->task);
+    if (request->device->channel->flags & ATA_IMMEDIATE_MODE) {
+	ata_completed(request, 0);
+    }
+    else {
+	TASK_INIT(&request->task, 0, ata_completed, request);
+	taskqueue_enqueue(taskqueue_swi, &request->task);
+    }
 }
 
 /* current command finished, clean up and return result */
@@ -214,27 +244,60 @@ ata_completed(void *context, int pending)
     struct ata_request *request = (struct ata_request *)context;
     struct ata_channel *channel = request->device->channel;
 
-    /* untimeout request now we have control back */
-    untimeout((timeout_t *)ata_timeout, request, request->timeout_handle);
+    ATA_DEBUG_RQ(request, "completed called");
 
-    /* do the all the magic for completition evt retry etc etc */
-    if ((request->status & (ATA_S_CORR | ATA_S_ERROR)) == ATA_S_CORR)
-	ata_prtdev(request->device, "WARNING - %s soft error (ECC corrected)\n",
-		   ata_cmd2str(request));
+    if (request->flags & ATA_R_TIMEOUT) {
+	ata_reinit(channel);
 
-    /* if this is a UDMA CRC error, retry request */
-    if (request->flags & ATA_R_DMA && request->error & ATA_E_ICRC) {
-	if (request->retries--) {
-	    ata_prtdev(request->device,
-		       "WARNING - %s UDMA ICRC error (retrying request)\n",
-		       ata_cmd2str(request));
-	    request->flags &= ~ATA_R_SKIPSTART;
+	/* if retries still permit, reinject this request */
+	if (request->retries-- > 0) {
+	    request->flags &= ~(ATA_R_TIMEOUT | ATA_R_SKIPSTART);
+	    request->flags |= (ATA_R_AT_HEAD | ATA_R_REQUEUE);
 	    ata_queue_request(request);
 	    return;
 	}
+
+	/* otherwise just finish with error */
+	else {
+	    if (!(request->flags & ATA_R_QUIET))
+		ata_prtdev(request->device,
+			   "FAILURE - %s timed out\n",
+			   ata_cmd2str(request));
+	    request->result = EIO;
+	}
+    }
+    else {
+	/* untimeout request now we have control back */
+	untimeout((timeout_t *)ata_timeout, request, request->timeout_handle);
+
+	/* do the all the magic for completition evt retry etc etc */
+	if ((request->status & (ATA_S_CORR | ATA_S_ERROR)) == ATA_S_CORR) {
+	    ata_prtdev(request->device,
+		       "WARNING - %s soft error (ECC corrected)",
+		       ata_cmd2str(request));
+	    if (!(request->flags & (ATA_R_ATAPI | ATA_R_CONTROL)))
+		printf(" LBA=%llu", (unsigned long long)request->u.ata.lba);
+	    printf("\n");
+	}
+
+	/* if this is a UDMA CRC error, retry request */
+	if (request->flags & ATA_R_DMA && request->error & ATA_E_ICRC) {
+	    if (request->retries-- > 0) {
+		ata_prtdev(request->device,
+			   "WARNING - %s UDMA ICRC error (retrying request)",
+			   ata_cmd2str(request));
+		if (!(request->flags & (ATA_R_ATAPI | ATA_R_CONTROL)))
+		    printf(" LBA=%llu", (unsigned long long)request->u.ata.lba);
+		printf("\n");
+		request->flags &= ~ATA_R_SKIPSTART;
+		ata_queue_request(request);
+		return;
+	    }
+	}
     }
 
     switch (request->flags & ATA_R_ATAPI) {
+
     /* ATA errors */
     default:
 	if (request->status & ATA_S_ERROR) {
@@ -250,8 +313,7 @@ ata_completed(void *context, int pending)
 		if ((request->flags & ATA_R_DMA) &&
 		    (request->dmastat & ATA_BMSTAT_ERROR))
 		    printf(" dma=0x%02x", request->dmastat);
-		if (!(request->flags & ATA_R_ATAPI) &&
-		    !(request->flags & ATA_R_CONTROL))
+		if (!(request->flags & (ATA_R_ATAPI | ATA_R_CONTROL)))
 		    printf(" LBA=%llu", (unsigned long long)request->u.ata.lba);
 		printf("\n");
 	    }
@@ -306,74 +368,67 @@ ata_completed(void *context, int pending)
 	break;
     }
 
-    request->flags |= ATA_R_DONE;
+    ATA_DEBUG_RQ(request, "completed callback/wakeup");
+
     if (request->callback)
 	(request->callback)(request);
     else
-	wakeup(request);
+	sema_post(&request->done);
+
     ata_start(channel);
 }
 
 static void
 ata_timeout(struct ata_request *request)
 {
-    struct ata_channel *ch = request->device->channel;
-    int quiet = request->flags & ATA_R_QUIET;
+    ATA_DEBUG_RQ(request, "timeout");
 
     /* clear timeout etc */
     request->timeout_handle.callout = NULL;
 
-    /* call hw.interrupt to try finish up the command */
-    ch->hw.interrupt(request->device->channel);
-    if (ch->running != request) {
-	if (!quiet)
-	    ata_prtdev(request->device,
-		       "WARNING - %s recovered from missing interrupt\n",
+    if (request->flags & ATA_R_INTR_SEEN) {
+	if (request->retries-- > 0) {
+            ata_prtdev(request->device,
+		       "WARNING - %s interrupt was seen but timeout fired",
 		       ata_cmd2str(request));
-	return;
-    }
+	    if (!(request->flags & (ATA_R_ATAPI | ATA_R_CONTROL)))
+		printf(" LBA=%llu", (unsigned long long)request->u.ata.lba);
+	    printf("\n");
 
-    /* if this was a DMA request stop the engine to be on the safe side */
-    if (request->flags & ATA_R_DMA) {
-	request->dmastat =
-	    request->device->channel->dma->stop(request->device->channel);
+	    /* re-arm timeout */
+	    if (!request->timeout_handle.callout && !dumping) {
+		request->timeout_handle =
+		    timeout((timeout_t*)ata_timeout, request,
+			    request->timeout * hz);
+	    }
+	}
+	else {
+            ata_prtdev(request->device,
+		       "WARNING - %s interrupt was seen but taskqueue stalled",
+		       ata_cmd2str(request));
+	    if (!(request->flags & (ATA_R_ATAPI | ATA_R_CONTROL)))
+		printf(" LBA=%llu", (unsigned long long)request->u.ata.lba);
+	    printf("\n");
+	    ata_completed(request, 0);
+	}
+	return;
     }
 
     /* report that we timed out */
-    if (request->retries > 0 && !(request->flags & ATA_R_QUIET))
+    if (!(request->flags & ATA_R_QUIET)) {
 	ata_prtdev(request->device,
-		   "TIMEOUT - %s retrying (%d retr%s left)\n",
+		   "TIMEOUT - %s retrying (%d retr%s left)",
 		   ata_cmd2str(request), request->retries,
 		   request->retries == 1 ? "y" : "ies");
-
-    /* try to adjust HW's attitude towards work */
-    ata_reinit(request->device->channel);
-
-    /* if device disappeared nothing more to do here */
-    if (!request->device->softc) {
-	if (!(request->flags & ATA_R_QUIET))
-	    ata_prtdev(request->device,
-		       "FAILURE - %s device lockup/removed\n",
-		       ata_cmd2str(request));
-	return;
+	if (!(request->flags & (ATA_R_ATAPI | ATA_R_CONTROL)))
+	    printf(" LBA=%llu", (unsigned long long)request->u.ata.lba);
+	printf("\n");
     }
 
-    /* if retries still permit, reinject this request */
-    if (request->retries-- > 0) {
-	request->flags |= (ATA_R_AT_HEAD | ATA_R_REQUEUE);
-	request->flags &= ~ATA_R_SKIPSTART;
-	ata_queue_request(request);
-    }
-    /* otherwise just schedule finish with error */
-    else {
-	if (!(request->flags & ATA_R_QUIET))
-	    ata_prtdev(request->device,
-		       "FAILURE - %s timed out\n",
-		       ata_cmd2str(request));
-	request->status = ATA_S_ERROR;
-	TASK_INIT(&request->task, 0, ata_completed, request);
-	taskqueue_enqueue(taskqueue_swi, &request->task);
-    }
+    /* now simulate the missing interrupt */
+    request->flags |= ATA_R_TIMEOUT;
+    request->device->channel->hw.interrupt(request->device->channel);
+    return;
 }
 
 char *
@@ -464,7 +519,16 @@ ata_cmd2str(struct ata_request *request)
 	case 0xe7: return ("FLUSHCACHE");
 	case 0xea: return ("FLUSHCACHE48");
 	case 0xec: return ("ATA_IDENTIFY");
-	case 0xef: return ("SETFEATURES");
+	case 0xef:
+	    switch (request->u.ata.feature) {
+	    case 0x03: return ("SETFEATURES SET TRANSFER MODE");
+	    case 0x02: return ("SETFEATURES ENABLE WCACHE");
+	    case 0x82: return ("SETFEATURES DISABLE WCACHE");
+	    case 0xaa: return ("SETFEATURES ENABLE RCACHE");
+	    case 0x55: return ("SETFEATURES DISABLE RCACHE");
+	    }
+    	    sprintf(buffer, "SETFEATURES 0x%02x", request->u.ata.feature);
+	    return buffer;
 	}
     }
     sprintf(buffer, "unknown CMD (0x%02x)", request->u.ata.command);
diff --git a/sys/dev/ata/ata-raid.c b/sys/dev/ata/ata-raid.c
index 95df9f609498..323c0caecbe3 100644
--- a/sys/dev/ata/ata-raid.c
+++ b/sys/dev/ata/ata-raid.c
@@ -1,5 +1,5 @@
 /*-
- * Copyright (c) 2000 - 2003 Søren Schmidt <sos@FreeBSD.org>
+ * Copyright (c) 2000 - 2004 Søren Schmidt <sos@FreeBSD.org>
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -43,6 +43,7 @@ __FBSDID("$FreeBSD$");
 #include <sys/cons.h>
 #include <sys/unistd.h>
 #include <sys/kthread.h>
+#include <sys/sema.h>
 #include <sys/taskqueue.h>
 #include <machine/bus.h>
 #include <sys/rman.h>
@@ -711,7 +712,7 @@ arstrategy(struct bio *bp)
 	    return;
 	}
 
-	buf1 = malloc(sizeof(struct ar_buf), M_AR, M_NOWAIT | M_ZERO);
+	buf1 = malloc(sizeof(struct ar_buf), M_AR, M_NOWAIT | M_ZERO); /* XXX */
 	buf1->bp.bio_pblkno = lba;
 	if ((buf1->drive = drv) > 0)
 	    buf1->bp.bio_pblkno += rdp->offset;
@@ -819,7 +820,7 @@ arstrategy(struct bio *bp)
 			((rdp->flags & AR_F_REBUILDING) &&
 			 (rdp->disks[buf1->drive].flags & AR_DF_SPARE) &&
 			 buf1->bp.bio_pblkno < rdp->lock_start)) {
-			buf2 = malloc(sizeof(struct ar_buf), M_AR, M_NOWAIT);
+			buf2 = malloc(sizeof(struct ar_buf), M_AR, M_NOWAIT); /* XXX */
 			bcopy(buf1, buf2, sizeof(struct ar_buf));
 			buf1->mirror = buf2;
 			buf2->mirror = buf1;
@@ -1020,7 +1021,7 @@ ar_rebuild(void *arg)
     rdp->lock_end = rdp->lock_start + AR_REBUILD_SIZE;
     rdp->flags |= AR_F_REBUILDING;
     splx(s);
-    buffer = malloc(AR_REBUILD_SIZE * DEV_BSIZE, M_AR, M_NOWAIT | M_ZERO);
+    buffer = malloc(AR_REBUILD_SIZE * DEV_BSIZE, M_AR, M_NOWAIT | M_ZERO); /* XXX */
 
     /* now go copy entire disk(s) */
     while (rdp->lock_end < (rdp->total_sectors / rdp->width)) {
diff --git a/sys/dev/ata/atapi-cd.c b/sys/dev/ata/atapi-cd.c
index ec35c4e64fd8..6cdbaea8d8e6 100644
--- a/sys/dev/ata/atapi-cd.c
+++ b/sys/dev/ata/atapi-cd.c
@@ -1,5 +1,5 @@
 /*-
- * Copyright (c) 1998 - 2003 Søren Schmidt <sos@FreeBSD.org>
+ * Copyright (c) 1998 - 2004 Søren Schmidt <sos@FreeBSD.org>
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -46,7 +46,7 @@ __FBSDID("$FreeBSD$");
 #include <sys/conf.h>
 #include <sys/ctype.h>
 #include <sys/taskqueue.h>
-#include <sys/mutex.h>
+#include <sys/sema.h>
 #include <machine/bus.h>
 #include <geom/geom.h>
 #include <dev/ata/ata-all.h>
diff --git a/sys/dev/ata/atapi-fd.c b/sys/dev/ata/atapi-fd.c
index 91f2110bd250..0c0f4ac6ee41 100644
--- a/sys/dev/ata/atapi-fd.c
+++ b/sys/dev/ata/atapi-fd.c
@@ -1,5 +1,5 @@
 /*-
- * Copyright (c) 1998 - 2003 Søren Schmidt <sos@FreeBSD.org>
+ * Copyright (c) 1998 - 2004 Søren Schmidt <sos@FreeBSD.org>
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -38,6 +38,7 @@ __FBSDID("$FreeBSD$");
 #include <sys/bus.h>
 #include <sys/conf.h>
 #include <sys/cdio.h>
+#include <sys/sema.h>
 #include <sys/taskqueue.h>
 #include <machine/bus.h>
 #include <geom/geom_disk.h>
diff --git a/sys/dev/ata/atapi-tape.c b/sys/dev/ata/atapi-tape.c
index f442258e4c18..1a5d6cacae2b 100644
--- a/sys/dev/ata/atapi-tape.c
+++ b/sys/dev/ata/atapi-tape.c
@@ -1,5 +1,5 @@
 /*-
- * Copyright (c) 1998 - 2003 Søren Schmidt <sos@FreeBSD.org>
+ * Copyright (c) 1998 - 2004 Søren Schmidt <sos@FreeBSD.org>
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -40,6 +40,7 @@ __FBSDID("$FreeBSD$");
 #include <sys/bus.h>
 #include <sys/mtio.h>
 #include <sys/devicestat.h>
+#include <sys/sema.h>
 #include <sys/taskqueue.h>
 #include <machine/bus.h>
 #include <dev/ata/ata-all.h>