diff --git a/drivers/ata/libata-core.c b/drivers/ata/libata-core.c
index e63773740fc240..ddc3d9f8fa0242 100644
--- a/drivers/ata/libata-core.c
+++ b/drivers/ata/libata-core.c
@@ -677,8 +677,12 @@ static inline void ata_set_tf_cdl(struct ata_queued_cmd *qc, int cdl)
 	else
 		tf->feature |= cdl;
 
-	/* Mark this command as having a CDL */
-	qc->flags |= ATA_QCFLAG_HAS_CDL;
+	/*
+	 * Mark this command as having a CDL and request the result
+	 * task file so that we can inspect the sense data available
+	 * bit on completion.
+	 */
+	qc->flags |= ATA_QCFLAG_HAS_CDL | ATA_QCFLAG_RESULT_TF;
 }
 
 /**
@@ -2424,6 +2428,24 @@ static void ata_dev_config_cdl(struct ata_device *dev)
 		ata_dev_warn(dev,
 			"Command duration guideline is not supported\n");
 
+	/*
+	 * We must have support for the sense data for successful NCQ commands
+	 * log indicated by the successful NCQ command sense data supported bit.
+	 */
+	val = get_unaligned_le64(&ap->sector_buf[8]);
+	if (!(val & BIT_ULL(63)) || !(val & BIT_ULL(47))) {
+		ata_dev_warn(dev,
+			"CDL supported but Successful NCQ Command Sense Data is not supported\n");
+		goto not_supported;
+	}
+
+	/* Without NCQ autosense, the successful NCQ commands log is useless. */
+	if (!ata_id_has_ncq_autosense(dev->id)) {
+		ata_dev_warn(dev,
+			"CDL supported but NCQ autosense is not supported\n");
+		goto not_supported;
+	}
+
 	/*
 	 * If CDL is marked as enabled, make sure the feature is enabled too.
 	 * Conversely, if CDL is disabled, make sure the feature is turned off.
@@ -2458,6 +2480,35 @@ static void ata_dev_config_cdl(struct ata_device *dev)
 		}
 	}
 
+	/*
+	 * While CDL itself has to be enabled using sysfs, CDL requires that
+	 * sense data for successful NCQ commands is enabled to work properly.
+	 * Just like ata_dev_config_sense_reporting(), enable it unconditionally
+	 * if supported.
+	 */
+	if (!(val & BIT_ULL(63)) || !(val & BIT_ULL(18))) {
+		err_mask = ata_dev_set_feature(dev,
+					SETFEATURE_SENSE_DATA_SUCC_NCQ, 0x1);
+		if (err_mask) {
+			ata_dev_warn(dev,
+				     "failed to enable Sense Data for successful NCQ commands, Emask 0x%x\n",
+				     err_mask);
+			goto not_supported;
+		}
+	}
+
+	/*
+	 * Allocate a buffer to handle reading the sense data for successful
+	 * NCQ Commands log page for commands using a CDL with one of the limit
+	 * policy set to 0xD (successful completion with sense data available
+	 * bit set).
+	 */
+	if (!ap->ncq_sense_buf) {
+		ap->ncq_sense_buf = kmalloc(ATA_LOG_SENSE_NCQ_SIZE, GFP_KERNEL);
+		if (!ap->ncq_sense_buf)
+			goto not_supported;
+	}
+
 	/*
 	 * Command duration limits is supported: cache the CDL log page 18h
 	 * (command duration descriptors).
@@ -2475,6 +2526,8 @@ static void ata_dev_config_cdl(struct ata_device *dev)
 
 not_supported:
 	dev->flags &= ~(ATA_DFLAG_CDL | ATA_DFLAG_CDL_ENABLED);
+	kfree(ap->ncq_sense_buf);
+	ap->ncq_sense_buf = NULL;
 }
 
 static int ata_dev_config_lba(struct ata_device *dev)
@@ -4878,6 +4931,36 @@ void ata_qc_complete(struct ata_queued_cmd *qc)
 			fill_result_tf(qc);
 
 		trace_ata_qc_complete_done(qc);
+
+		/*
+		 * For CDL commands that completed without an error, check if
+		 * we have sense data (ATA_SENSE is set). If we do, then the
+		 * command may have been aborted by the device due to a limit
+		 * timeout using the policy 0xD. For these commands, invoke EH
+		 * to get the command sense data.
+		 */
+		if (qc->result_tf.status & ATA_SENSE &&
+		    ((ata_is_ncq(qc->tf.protocol) &&
+		      dev->flags & ATA_DFLAG_CDL_ENABLED) ||
+		     (!(ata_is_ncq(qc->tf.protocol) &&
+			ata_id_sense_reporting_enabled(dev->id))))) {
+			/*
+			 * Tell SCSI EH to not overwrite scmd->result even if
+			 * this command is finished with result SAM_STAT_GOOD.
+			 */
+			qc->scsicmd->flags |= SCMD_FORCE_EH_SUCCESS;
+			qc->flags |= ATA_QCFLAG_EH_SUCCESS_CMD;
+			ehi->dev_action[dev->devno] |= ATA_EH_GET_SUCCESS_SENSE;
+
+			/*
+			 * set pending so that ata_qc_schedule_eh() does not
+			 * trigger fast drain, and freeze the port.
+			 */
+			ap->pflags |= ATA_PFLAG_EH_PENDING;
+			ata_qc_schedule_eh(qc);
+			return;
+		}
+
 		/* Some commands need post-processing after successful
 		 * completion.
 		 */
@@ -5510,6 +5593,7 @@ static void ata_host_release(struct kref *kref)
 
 		kfree(ap->pmp_link);
 		kfree(ap->slave_link);
+		kfree(ap->ncq_sense_buf);
 		kfree(ap);
 		host->ports[i] = NULL;
 	}
diff --git a/drivers/ata/libata-eh.c b/drivers/ata/libata-eh.c
index 598ae07195b6d0..05af292eb8cebf 100644
--- a/drivers/ata/libata-eh.c
+++ b/drivers/ata/libata-eh.c
@@ -1917,6 +1917,99 @@ static inline bool ata_eh_quiet(struct ata_queued_cmd *qc)
 	return qc->flags & ATA_QCFLAG_QUIET;
 }
 
+static int ata_eh_read_sense_success_non_ncq(struct ata_link *link)
+{
+	struct ata_port *ap = link->ap;
+	struct ata_queued_cmd *qc;
+
+	qc = __ata_qc_from_tag(ap, link->active_tag);
+	if (!qc)
+		return -EIO;
+
+	if (!(qc->flags & ATA_QCFLAG_EH) ||
+	    !(qc->flags & ATA_QCFLAG_EH_SUCCESS_CMD) ||
+	    qc->err_mask)
+		return -EIO;
+
+	if (!ata_eh_request_sense(qc))
+		return -EIO;
+
+	/*
+	 * If we have sense data, call scsi_check_sense() in order to set the
+	 * correct SCSI ML byte (if any). No point in checking the return value,
+	 * since the command has already completed successfully.
+	 */
+	scsi_check_sense(qc->scsicmd);
+
+	return 0;
+}
+
+static void ata_eh_get_success_sense(struct ata_link *link)
+{
+	struct ata_eh_context *ehc = &link->eh_context;
+	struct ata_device *dev = link->device;
+	struct ata_port *ap = link->ap;
+	struct ata_queued_cmd *qc;
+	int tag, ret = 0;
+
+	if (!(ehc->i.dev_action[dev->devno] & ATA_EH_GET_SUCCESS_SENSE))
+		return;
+
+	/* if frozen, we can't do much */
+	if (ata_port_is_frozen(ap)) {
+		ata_dev_warn(dev,
+			"successful sense data available but port frozen\n");
+		goto out;
+	}
+
+	/*
+	 * If the link has sactive set, then we have outstanding NCQ commands
+	 * and have to read the Successful NCQ Commands log to get the sense
+	 * data. Otherwise, we are dealing with a non-NCQ command and use
+	 * request sense ext command to retrieve the sense data.
+	 */
+	if (link->sactive)
+		ret = ata_eh_read_sense_success_ncq_log(link);
+	else
+		ret = ata_eh_read_sense_success_non_ncq(link);
+	if (ret)
+		goto out;
+
+	ata_eh_done(link, dev, ATA_EH_GET_SUCCESS_SENSE);
+	return;
+
+out:
+	/*
+	 * If we failed to get sense data for a successful command that ought to
+	 * have sense data, we cannot simply return BLK_STS_OK to user space.
+	 * This is because we can't know if the sense data that we couldn't get
+	 * was actually "DATA CURRENTLY UNAVAILABLE". Reporting such a command
+	 * as success to user space would result in a silent data corruption.
+	 * Thus, add a bogus ABORTED_COMMAND sense data to such commands, such
+	 * that SCSI will report these commands as BLK_STS_IOERR to user space.
+	 */
+	ata_qc_for_each_raw(ap, qc, tag) {
+		if (!(qc->flags & ATA_QCFLAG_EH) ||
+		    !(qc->flags & ATA_QCFLAG_EH_SUCCESS_CMD) ||
+		    qc->err_mask ||
+		    ata_dev_phys_link(qc->dev) != link)
+			continue;
+
+		/* We managed to get sense for this success command, skip. */
+		if (qc->flags & ATA_QCFLAG_SENSE_VALID)
+			continue;
+
+		/* This success command did not have any sense data, skip. */
+		if (!(qc->result_tf.status & ATA_SENSE))
+			continue;
+
+		/* This success command had sense data, but we failed to get. */
+		ata_scsi_set_sense(dev, qc->scsicmd, ABORTED_COMMAND, 0, 0);
+		qc->flags |= ATA_QCFLAG_SENSE_VALID;
+	}
+	ata_eh_done(link, dev, ATA_EH_GET_SUCCESS_SENSE);
+}
+
 /**
  *	ata_eh_link_autopsy - analyze error and determine recovery action
  *	@link: host link to perform autopsy on
@@ -1957,6 +2050,14 @@ static void ata_eh_link_autopsy(struct ata_link *link)
 	/* analyze NCQ failure */
 	ata_eh_analyze_ncq_error(link);
 
+	/*
+	 * Check if this was a successful command that simply needs sense data.
+	 * Since the sense data is not part of the completion, we need to fetch
+	 * it using an additional command. Since this can't be done from irq
+	 * context, the sense data for successful commands are fetched by EH.
+	 */
+	ata_eh_get_success_sense(link);
+
 	/* any real error trumps AC_ERR_OTHER */
 	if (ehc->i.err_mask & ~AC_ERR_OTHER)
 		ehc->i.err_mask &= ~AC_ERR_OTHER;
@@ -1966,6 +2067,7 @@ static void ata_eh_link_autopsy(struct ata_link *link)
 	ata_qc_for_each_raw(ap, qc, tag) {
 		if (!(qc->flags & ATA_QCFLAG_EH) ||
 		    qc->flags & ATA_QCFLAG_RETRY ||
+		    qc->flags & ATA_QCFLAG_EH_SUCCESS_CMD ||
 		    ata_dev_phys_link(qc->dev) != link)
 			continue;
 
@@ -3825,7 +3927,8 @@ void ata_eh_finish(struct ata_port *ap)
 			else
 				ata_eh_qc_complete(qc);
 		} else {
-			if (qc->flags & ATA_QCFLAG_SENSE_VALID) {
+			if (qc->flags & ATA_QCFLAG_SENSE_VALID ||
+			    qc->flags & ATA_QCFLAG_EH_SUCCESS_CMD) {
 				ata_eh_qc_complete(qc);
 			} else {
 				/* feed zero TF to sense generation */
diff --git a/drivers/ata/libata-sata.c b/drivers/ata/libata-sata.c
index 57cb33060c9dad..7de4d8901fac1e 100644
--- a/drivers/ata/libata-sata.c
+++ b/drivers/ata/libata-sata.c
@@ -11,7 +11,9 @@
 #include <linux/module.h>
 #include <scsi/scsi_cmnd.h>
 #include <scsi/scsi_device.h>
+#include <scsi/scsi_eh.h>
 #include <linux/libata.h>
+#include <asm/unaligned.h>
 
 #include "libata.h"
 #include "libata-transport.h"
@@ -1408,6 +1410,95 @@ static int ata_eh_read_log_10h(struct ata_device *dev,
 	return 0;
 }
 
+/**
+ *	ata_eh_read_sense_success_ncq_log - Read the sense data for successful
+ *					    NCQ commands log
+ *	@link: ATA link to get sense data for
+ *
+ *	Read the sense data for successful NCQ commands log page to obtain
+ *	sense data for all NCQ commands that completed successfully with
+ *	the sense data available bit set.
+ *
+ *	LOCKING:
+ *	Kernel thread context (may sleep).
+ *
+ *	RETURNS:
+ *	0 on success, -errno otherwise.
+ */
+int ata_eh_read_sense_success_ncq_log(struct ata_link *link)
+{
+	struct ata_device *dev = link->device;
+	struct ata_port *ap = dev->link->ap;
+	u8 *buf = ap->ncq_sense_buf;
+	struct ata_queued_cmd *qc;
+	unsigned int err_mask, tag;
+	u8 *sense, sk = 0, asc = 0, ascq = 0;
+	u64 sense_valid, val;
+	int ret = 0;
+
+	err_mask = ata_read_log_page(dev, ATA_LOG_SENSE_NCQ, 0, buf, 2);
+	if (err_mask) {
+		ata_dev_err(dev,
+			"Failed to read Sense Data for Successful NCQ Commands log\n");
+		return -EIO;
+	}
+
+	/* Check the log header */
+	val = get_unaligned_le64(&buf[0]);
+	if ((val & 0xffff) != 1 || ((val >> 16) & 0xff) != 0x0f) {
+		ata_dev_err(dev,
+			"Invalid Sense Data for Successful NCQ Commands log\n");
+		return -EIO;
+	}
+
+	sense_valid = (u64)buf[8] | ((u64)buf[9] << 8) |
+		((u64)buf[10] << 16) | ((u64)buf[11] << 24);
+
+	ata_qc_for_each_raw(ap, qc, tag) {
+		if (!(qc->flags & ATA_QCFLAG_EH) ||
+		    !(qc->flags & ATA_QCFLAG_EH_SUCCESS_CMD) ||
+		    qc->err_mask ||
+		    ata_dev_phys_link(qc->dev) != link)
+			continue;
+
+		/*
+		 * If the command does not have any sense data, clear ATA_SENSE.
+		 * Keep ATA_QCFLAG_EH_SUCCESS_CMD so that command is finished.
+		 */
+		if (!(sense_valid & (1ULL << tag))) {
+			qc->result_tf.status &= ~ATA_SENSE;
+			continue;
+		}
+
+		sense = &buf[32 + 24 * tag];
+		sk = sense[0];
+		asc = sense[1];
+		ascq = sense[2];
+
+		if (!ata_scsi_sense_is_valid(sk, asc, ascq)) {
+			ret = -EIO;
+			continue;
+		}
+
+		/* Set sense without also setting scsicmd->result */
+		scsi_build_sense_buffer(dev->flags & ATA_DFLAG_D_SENSE,
+					qc->scsicmd->sense_buffer, sk,
+					asc, ascq);
+		qc->flags |= ATA_QCFLAG_SENSE_VALID;
+
+		/*
+		 * If we have sense data, call scsi_check_sense() in order to
+		 * set the correct SCSI ML byte (if any). No point in checking
+		 * the return value, since the command has already completed
+		 * successfully.
+		 */
+		scsi_check_sense(qc->scsicmd);
+	}
+
+	return ret;
+}
+EXPORT_SYMBOL_GPL(ata_eh_read_sense_success_ncq_log);
+
 /**
  *	ata_eh_analyze_ncq_error - analyze NCQ error
  *	@link: ATA link to analyze NCQ error for
@@ -1488,6 +1579,7 @@ void ata_eh_analyze_ncq_error(struct ata_link *link)
 
 	ata_qc_for_each_raw(ap, qc, tag) {
 		if (!(qc->flags & ATA_QCFLAG_EH) ||
+		    qc->flags & ATA_QCFLAG_EH_SUCCESS_CMD ||
 		    ata_dev_phys_link(qc->dev) != link)
 			continue;
 
diff --git a/include/linux/ata.h b/include/linux/ata.h
index 21108471c6af0f..792e10a09787f8 100644
--- a/include/linux/ata.h
+++ b/include/linux/ata.h
@@ -325,6 +325,8 @@ enum {
 	ATA_LOG_CDL		= 0x18,
 	ATA_LOG_CDL_SIZE	= ATA_SECT_SIZE,
 	ATA_LOG_IDENTIFY_DEVICE	= 0x30,
+	ATA_LOG_SENSE_NCQ	= 0x0F,
+	ATA_LOG_SENSE_NCQ_SIZE	= ATA_SECT_SIZE * 2,
 	ATA_LOG_CONCURRENT_POSITIONING_RANGES = 0x47,
 
 	/* Identify device log pages: */
@@ -431,6 +433,7 @@ enum {
 	SATA_DEVSLP		= 0x09,	/* Device Sleep */
 
 	SETFEATURE_SENSE_DATA	= 0xC3, /* Sense Data Reporting feature */
+	SETFEATURE_SENSE_DATA_SUCC_NCQ = 0xC4, /* Sense Data for successful NCQ commands */
 
 	/* feature values for SET_MAX */
 	ATA_SET_MAX_ADDR	= 0x00,
diff --git a/include/linux/libata.h b/include/linux/libata.h
index f679abd2e61f10..5c8ef33b0af25f 100644
--- a/include/linux/libata.h
+++ b/include/linux/libata.h
@@ -214,6 +214,7 @@ enum {
 	ATA_QCFLAG_EH		= (1 << 16), /* cmd aborted and owned by EH */
 	ATA_QCFLAG_SENSE_VALID	= (1 << 17), /* sense data valid */
 	ATA_QCFLAG_EH_SCHEDULED = (1 << 18), /* EH scheduled (obsolete) */
+	ATA_QCFLAG_EH_SUCCESS_CMD = (1 << 19), /* EH should fetch sense for this successful cmd */
 
 	/* host set flags */
 	ATA_HOST_SIMPLEX	= (1 << 0),	/* Host is simplex, one DMA channel per host only */
@@ -312,8 +313,10 @@ enum {
 	ATA_EH_RESET		= ATA_EH_SOFTRESET | ATA_EH_HARDRESET,
 	ATA_EH_ENABLE_LINK	= (1 << 3),
 	ATA_EH_PARK		= (1 << 5), /* unload heads and stop I/O */
+	ATA_EH_GET_SUCCESS_SENSE = (1 << 6), /* Get sense data for successful cmd */
 
-	ATA_EH_PERDEV_MASK	= ATA_EH_REVALIDATE | ATA_EH_PARK,
+	ATA_EH_PERDEV_MASK	= ATA_EH_REVALIDATE | ATA_EH_PARK |
+				  ATA_EH_GET_SUCCESS_SENSE,
 	ATA_EH_ALL_ACTIONS	= ATA_EH_REVALIDATE | ATA_EH_RESET |
 				  ATA_EH_ENABLE_LINK,
 
@@ -867,6 +870,7 @@ struct ata_port {
 	struct ata_acpi_gtm	__acpi_init_gtm; /* use ata_acpi_init_gtm() */
 #endif
 	/* owned by EH */
+	u8			*ncq_sense_buf;
 	u8			sector_buf[ATA_SECT_SIZE] ____cacheline_aligned;
 };
 
@@ -1185,6 +1189,7 @@ extern int sata_link_hardreset(struct ata_link *link,
 			bool *online, int (*check_ready)(struct ata_link *));
 extern int sata_link_resume(struct ata_link *link, const unsigned long *params,
 			    unsigned long deadline);
+extern int ata_eh_read_sense_success_ncq_log(struct ata_link *link);
 extern void ata_eh_analyze_ncq_error(struct ata_link *link);
 #else
 static inline const unsigned long *
@@ -1222,6 +1227,10 @@ static inline int sata_link_resume(struct ata_link *link,
 {
 	return -EOPNOTSUPP;
 }
+static inline int ata_eh_read_sense_success_ncq_log(struct ata_link *link)
+{
+	return -EOPNOTSUPP;
+}
 static inline void ata_eh_analyze_ncq_error(struct ata_link *link) { }
 #endif
 extern int sata_link_debounce(struct ata_link *link,