See https://bugs.freebsd.org/bugzilla/show_bug.cgi?id=202712
See https://github.com/westerndigitalcorporation/RISC-V-Linux/blob/master/linux/drivers/ata/libata-core.c#L3556


Index: sys/cam/ata/ata_xpt.c
===================================================================
--- sys/cam/ata/ata_xpt.c	(revision 345870)
+++ sys/cam/ata/ata_xpt.c	(working copy)
@@ -146,6 +146,8 @@ typedef struct {
 	int		restart;
 	int		spinup;
 	int		faults;
+	int		setmode_failed;
+	int		wantmode;
 	u_int		caps;
 	struct cam_periph *periph;
 } probe_softc;
@@ -464,6 +466,7 @@ negotiate:
 		else
 			path->device->inq_flags |= SID_DMA;
 		xpt_async(AC_GETDEV_CHANGED, path, NULL);
+		softc->wantmode = mode;
 		cam_fill_ataio(ataio,
 		      1,
 		      probedone,
@@ -782,13 +785,24 @@ out:
 			else
 				softc->restart = 0;
 
-		/* Old PIO2 devices may not support mode setting. */
+		/* Handle SETMODE quirks. */
 		} else if (softc->action == PROBE_SETMODE &&
-		    status == CAM_ATA_STATUS_ERROR &&
-		    ata_max_pmode(ident_buf) <= ATA_PIO2 &&
-		    (ident_buf->capabilities1 & ATA_SUPPORT_IORDY) == 0) {
-			goto noerror;
+		    status == CAM_ATA_STATUS_ERROR) {
+			/* Old PIO2 devices may not support mode setting. */
+			if (ata_max_pmode(ident_buf) <= ATA_PIO2 &&
+			    (ident_buf->capabilities1 & ATA_SUPPORT_IORDY) == 0)
+				goto noerror;
 
+			/*
+			 * If SETMODE failed, do IDENTIFY again and see if
+			 * the disk has the mode we wanted to set.
+			 */
+			softc->setmode_failed = 1;
+			PROBE_SET_ACTION(softc, PROBE_IDENTIFY);
+			xpt_release_ccb(done_ccb);
+			xpt_schedule(periph, priority);
+			goto out;
+
 		/*
 		 * Some old WD SATA disks report supported and enabled
 		 * device-initiated interface power management, but return
@@ -1019,10 +1033,24 @@ noerror:
 		ata_device_transport(path);
 		if (changed)
 			proberequestdefaultnegotiation(periph);
-		PROBE_SET_ACTION(softc, PROBE_SETMODE);
-		xpt_release_ccb(done_ccb);
-		xpt_schedule(periph, priority);
-		goto out;
+		if (!softc->setmode_failed) {
+			/* Normal IDENTIFY, proceed to SETMODE. */
+			PROBE_SET_ACTION(softc, PROBE_SETMODE);
+			xpt_release_ccb(done_ccb);
+			xpt_schedule(periph, priority);
+			goto out;
+		} else if (ata_max_mode(ident_buf, 0) == softc->wantmode) {
+			/*
+			 * IDENTIFY after a failed SETMODE and the actual mode
+			 * is what we requested.  So, pretend that SETMODE
+			 * succeeded.
+			 */
+			softc->action = PROBE_SETMODE;
+			goto noerror;
+		} else {
+			/* The mode is wrong, the probe failed. */
+			goto device_fail;
+		}
 	}
 	case PROBE_SPINUP:
 		if (bootverbose)