[Bug 206200] CAM status: command timeout

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https://bugs.freebsd.org/bugzilla/show_bug.cgi?id=206200

            Bug ID: 206200
           Summary: CAM status: command timeout
           Product: Base System
           Version: 10.1-RELEASE
          Hardware: Any
                OS: Any
            Status: New
          Severity: Affects Some People
          Priority: ---
         Component: kern
          Assignee: freebsd-bugs at FreeBSD.org
          Reporter: sasamotikomi at gmail.com

Problem with new (P)ATA-CAM implementation:
After update from 9.1 to 9.2 caused many kernel panics:
https://bugs.freebsd.org/bugzilla/show_bug.cgi?id=193380#c14
It's gone after update to 10.1 and back again as cam issue after few security
update (via freebsd-update):

ada0:ata0:0:0:0): READ_DMA. ACB: c8 00 20 5a 5f 43 00 00 00 00 08 00            
(ada0:ata0:0:0:0): CAM status: ATA Status Error                                 
(ada0:ata0:0:0:0): ATA status: 51 (DRDY SERV ERR), error: 40 (UNC )             
(ada0:ata0:0:0:0): RES: 51 40 24 5a 5f 03 03 00 00 00 00                        
(ada0:ata0:0:0:0): Retrying command                                             
(ada0:ata0:0:0:0): READ_DMA. ACB: c8 00 20 5a 5f 43 00 00 00 00 08 00           
(ada0:ata0:0:0:0): CAM status: ATA Status Error                                 
(ada0:ata0:0:0:0): ATA status: 51 (DRDY SERV ERR), error: 40 (UNC )             
(ada0:ata0:0:0:0): RES: 51 40 24 5a 5f 03 03 00 00 00 00                        
(ada0:ata0:0:0:0): Retrying command                                             
(ada0:ata0:0:0:0): READ_DMA. ACB: c8 00 20 5a 5f 43 00 00 00 00 08 00           
(ada0:ata0:0:0:0): CAM status: ATA Status Error                                 
(ada0:ata0:0:0:0): ATA status: 51 (DRDY SERV ERR), error: 40 (UNC )             
(ada0:ata0:0:0:0): RES: 51 40 24 5a 5f 03 03 00 00 00 00                        
(ada0:ata0:0:0:0): Retrying command                                             
(ada0:ata0:0:0:0): Retrying command                                             
(ada0:ata0:0:0:0): READ_DMA. ACB: c8 00 20 5a 5f 43 00 00 00 00 08 00           
(ada0:ata0:0:0:0): CAM status: ATA Status Error                                 
(ada0:ata0:0:0:0): ATA status: 51 (DRDY SERV ERR), error: 40 (UNC )             
(ada0:ata0:0:0:0): RES: 51 40 24 5a 5f 03 03 00 00 00 00                        
(ada0:ata0:0:0:0): Error 5, Retries exhausted                                   
g_vfs_done():ada0s2a[READ(offset=7672586240, length=4096)]error = 5 

Possible partially related with this bug:
https://bugs.freebsd.org/bugzilla/show_bug.cgi?id=119838
Patch for ATA:
https://bugs.freebsd.org/bugzilla/show_bug.cgi?id=199495

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