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diff --git a/Documentation/DocBook/libata.tmpl b/Documentation/DocBook/libata.tmpl
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+++ b/Documentation/DocBook/libata.tmpl
@@ -413,6 +413,362 @@ and other resources, etc.
         </sect2>
 
      </sect1>
+     <sect1>
+        <title>Error handling</title>
+
+        <para>
+        This chapter describes how errors are handled under libata.
+        Readers are advised to read SCSI EH
+        (Documentation/scsi/scsi_eh.txt) and ATA exceptions doc first.
+        </para>
+
+        <sect2><title>Origins of commands</title>
+        <para>
+        In libata, a command is represented with struct ata_queued_cmd
+        or qc.  qc's are preallocated during port initialization and
+        repetitively used for command executions.  Currently only one
+        qc is allocated per port but yet-to-be-merged NCQ branch
+        allocates one for each tag and maps each qc to NCQ tag 1-to-1.
+        </para>
+        <para>
+        libata commands can originate from two sources - libata itself
+        and SCSI midlayer.  libata internal commands are used for
+        initialization and error handling.  All normal blk requests
+        and commands for SCSI emulation are passed as SCSI commands
+        through queuecommand callback of SCSI host template.
+        </para>
+        </sect2>
+
+        <sect2><title>How commands are issued</title>
+
+        <variablelist>
+
+        <varlistentry><term>Internal commands</term>
+        <listitem>
+        <para>
+        First, qc is allocated and initialized using
+        ata_qc_new_init().  Although ata_qc_new_init() doesn't
+        implement any wait or retry mechanism when qc is not
+        available, internal commands are currently issued only during
+        initialization and error recovery, so no other command is
+        active and allocation is guaranteed to succeed.
+        </para>
+        <para>
+        Once allocated qc's taskfile is initialized for the command to
+        be executed.  qc currently has two mechanisms to notify
+        completion.  One is via qc->complete_fn() callback and the
+        other is completion qc->waiting.  qc->complete_fn() callback
+        is the asynchronous path used by normal SCSI translated
+        commands and qc->waiting is the synchronous (issuer sleeps in
+        process context) path used by internal commands.
+        </para>
+        <para>
+        Once initialization is complete, host_set lock is acquired
+        and the qc is issued.
+        </para>
+        </listitem>
+        </varlistentry>
+
+        <varlistentry><term>SCSI commands</term>
+        <listitem>
+        <para>
+        All libata drivers use ata_scsi_queuecmd() as
+        hostt->queuecommand callback.  scmds can either be simulated
+        or translated.  No qc is involved in processing a simulated
+        scmd.  The result is computed right away and the scmd is
+        completed.
+        </para>
+        <para>
+        For a translated scmd, ata_qc_new_init() is invoked to
+        allocate a qc and the scmd is translated into the qc.  SCSI
+        midlayer's completion notification function pointer is stored
+        into qc->scsidone.
+        </para>
+        <para>
+        qc->complete_fn() callback is used for completion
+        notification.  ATA commands use ata_scsi_qc_complete() while
+        ATAPI commands use atapi_qc_complete().  Both functions end up
+        calling qc->scsidone to notify upper layer when the qc is
+        finished.  After translation is completed, the qc is issued
+        with ata_qc_issue().
+        </para>
+        <para>
+        Note that SCSI midlayer invokes hostt->queuecommand while
+        holding host_set lock, so all above occur while holding
+        host_set lock.
+        </para>
+        </listitem>
+        </varlistentry>
+
+        </variablelist>
+        </sect2>
+
+        <sect2><title>How commands are processed</title>
+        <para>
+        Depending on which protocol and which controller are used,
+        commands are processed differently.  For the purpose of
+        discussion, a controller which uses taskfile interface and all
+        standard callbacks is assumed.
+        </para>
+        <para>
+        Currently 6 ATA command protocols are used.  They can be
+        sorted into the following four categories according to how
+        they are processed.
+        </para>
+
+        <variablelist>
+           <varlistentry><term>ATA NO DATA or DMA</term>
+           <listitem>
+           <para>
+           ATA_PROT_NODATA and ATA_PROT_DMA fall into this category.
+           These types of commands don't require any software
+           intervention once issued.  Device will raise interrupt on
+           completion.
+           </para>
+           </listitem>
+           </varlistentry>
+
+           <varlistentry><term>ATA PIO</term>
+           <listitem>
+           <para>
+           ATA_PROT_PIO is in this category.  libata currently
+           implements PIO with polling.  ATA_NIEN bit is set to turn
+           off interrupt and pio_task on ata_wq performs polling and
+           IO.
+           </para>
+           </listitem>
+           </varlistentry>
+
+           <varlistentry><term>ATAPI NODATA or DMA</term>
+           <listitem>
+           <para>
+           ATA_PROT_ATAPI_NODATA and ATA_PROT_ATAPI_DMA are in this
+           category.  packet_task is used to poll BSY bit after
+           issuing PACKET command.  Once BSY is turned off by the
+           device, packet_task transfers CDB and hands off processing
+           to interrupt handler.
+           </para>
+           </listitem>
+           </varlistentry>
+
+           <varlistentry><term>ATAPI PIO</term>
+           <listitem>
+           <para>
+           ATA_PROT_ATAPI is in this category.  ATA_NIEN bit is set
+           and, as in ATAPI NODATA or DMA, packet_task submits cdb.
+           However, after submitting cdb, further processing (data
+           transfer) is handed off to pio_task.
+           </para>
+           </listitem>
+           </varlistentry>
+        </variablelist>
+        </sect2>
+
+        <sect2><title>How commands are completed</title>
+        <para>
+        Once issued, all qc's are either completed with
+        ata_qc_complete() or time out.  For commands which are handled
+        by interrupts, ata_host_intr() invokes ata_qc_complete(), and,
+        for PIO tasks, pio_task invokes ata_qc_complete().  In error
+        cases, packet_task may also complete commands.
+        </para>
+        <para>
+        ata_qc_complete() does the following.
+        </para>
+
+        <orderedlist>
+
+        <listitem>
+        <para>
+        DMA memory is unmapped.
+        </para>
+        </listitem>
+
+        <listitem>
+        <para>
+        ATA_QCFLAG_ACTIVE is clared from qc->flags.
+        </para>
+        </listitem>
+
+        <listitem>
+        <para>
+        qc->complete_fn() callback is invoked.  If the return value of
+        the callback is not zero.  Completion is short circuited and
+        ata_qc_complete() returns.
+        </para>
+        </listitem>
+
+        <listitem>
+        <para>
+        __ata_qc_complete() is called, which does
+           <orderedlist>
+
+           <listitem>
+           <para>
+           qc->flags is cleared to zero.
+           </para>
+           </listitem>
+
+           <listitem>
+           <para>
+           ap->active_tag and qc->tag are poisoned.
+           </para>
+           </listitem>
+
+           <listitem>
+           <para>
+           qc->waiting is claread &amp; completed (in that order).
+           </para>
+           </listitem>
+
+           <listitem>
+           <para>
+           qc is deallocated by clearing appropriate bit in ap->qactive.
+           </para>
+           </listitem>
+
+           </orderedlist>
+        </para>
+        </listitem>
+
+        </orderedlist>
+
+        <para>
+        So, it basically notifies upper layer and deallocates qc.  One
+        exception is short-circuit path in #3 which is used by
+        atapi_qc_complete().
+        </para>
+        <para>
+        For all non-ATAPI commands, whether it fails or not, almost
+        the same code path is taken and very little error handling
+        takes place.  A qc is completed with success status if it
+        succeeded, with failed status otherwise.
+        </para>
+        <para>
+        However, failed ATAPI commands require more handling as
+        REQUEST SENSE is needed to acquire sense data.  If an ATAPI
+        command fails, ata_qc_complete() is invoked with error status,
+        which in turn invokes atapi_qc_complete() via
+        qc->complete_fn() callback.
+        </para>
+        <para>
+        This makes atapi_qc_complete() set scmd->result to
+        SAM_STAT_CHECK_CONDITION, complete the scmd and return 1.  As
+        the sense data is empty but scmd->result is CHECK CONDITION,
+        SCSI midlayer will invoke EH for the scmd, and returning 1
+        makes ata_qc_complete() to return without deallocating the qc.
+        This leads us to ata_scsi_error() with partially completed qc.
+        </para>
+
+        </sect2>
+
+        <sect2><title>ata_scsi_error()</title>
+        <para>
+        ata_scsi_error() is the current hostt->eh_strategy_handler()
+        for libata.  As discussed above, this will be entered in two
+        cases - timeout and ATAPI error completion.  This function
+        calls low level libata driver's eng_timeout() callback, the
+        standard callback for which is ata_eng_timeout().  It checks
+        if a qc is active and calls ata_qc_timeout() on the qc if so.
+        Actual error handling occurs in ata_qc_timeout().
+        </para>
+        <para>
+        If EH is invoked for timeout, ata_qc_timeout() stops BMDMA and
+        completes the qc.  Note that as we're currently in EH, we
+        cannot call scsi_done.  As described in SCSI EH doc, a
+        recovered scmd should be either retried with
+        scsi_queue_insert() or finished with scsi_finish_command().
+        Here, we override qc->scsidone with scsi_finish_command() and
+        calls ata_qc_complete().
+        </para>
+        <para>
+        If EH is invoked due to a failed ATAPI qc, the qc here is
+        completed but not deallocated.  The purpose of this
+        half-completion is to use the qc as place holder to make EH
+        code reach this place.  This is a bit hackish, but it works.
+        </para>
+        <para>
+        Once control reaches here, the qc is deallocated by invoking
+        __ata_qc_complete() explicitly.  Then, internal qc for REQUEST
+        SENSE is issued.  Once sense data is acquired, scmd is
+        finished by directly invoking scsi_finish_command() on the
+        scmd.  Note that as we already have completed and deallocated
+        the qc which was associated with the scmd, we don't need
+        to/cannot call ata_qc_complete() again.
+        </para>
+
+        </sect2>
+
+        <sect2><title>Problems with the current EH</title>
+
+        <itemizedlist>
+
+        <listitem>
+        <para>
+        Error representation is too crude.  Currently any and all
+        error conditions are represented with ATA STATUS and ERROR
+        registers.  Errors which aren't ATA device errors are treated
+        as ATA device errors by setting ATA_ERR bit.  Better error
+        descriptor which can properly represent ATA and other
+        errors/exceptions is needed.
+        </para>
+        </listitem>
+
+        <listitem>
+        <para>
+        When handling timeouts, no action is taken to make device
+        forget about the timed out command and ready for new commands.
+        </para>
+        </listitem>
+
+        <listitem>
+        <para>
+        EH handling via ata_scsi_error() is not properly protected
+        from usual command processing.  On EH entrance, the device is
+        not in quiescent state.  Timed out commands may succeed or
+        fail any time.  pio_task and atapi_task may still be running.
+        </para>
+        </listitem>
+
+        <listitem>
+        <para>
+        Too weak error recovery.  Devices / controllers causing HSM
+        mismatch errors and other errors quite often require reset to
+        return to known state.  Also, advanced error handling is
+        necessary to support features like NCQ and hotplug.
+        </para>
+        </listitem>
+
+        <listitem>
+        <para>
+        ATA errors are directly handled in the interrupt handler and
+        PIO errors in pio_task.  This is problematic for advanced
+        error handling for the following reasons.
+        </para>
+        <para>
+        First, advanced error handling often requires context and
+        internal qc execution.
+        </para>
+        <para>
+        Second, even a simple failure (say, CRC error) needs
+        information gathering and could trigger complex error handling
+        (say, resetting &amp; reconfiguring).  Having multiple code
+        paths to gather information, enter EH and trigger actions
+        makes life painful.
+        </para>
+        <para>
+        Third, scattered EH code makes implementing low level drivers
+        difficult.  Low level drivers override libata callbacks.  If
+        EH is scattered over several places, each affected callbacks
+        should perform its part of error handling.  This can be error
+        prone and painful.
+        </para>
+        </listitem>
+
+        </itemizedlist>
+        </sect2>
+
+     </sect1>
   </chapter>
 
   <chapter id="libataExt">