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	diff --git a/sys/dev/mpr/mpr.c b/sys/dev/mpr/mpr.c
	--- a/sys/dev/mpr/mpr.c
	+++ b/sys/dev/mpr/mpr.c
	@@ -1141,7 +1141,8 @@
	if (++sc->io_cmds_active > sc->io_cmds_highwater)
	sc->io_cmds_highwater++;

	- KASSERT(cm->cm_state == MPR_CM_STATE_BUSY, ("command not busy\n"));
	+ KASSERT(cm->cm_state == MPR_CM_STATE_BUSY,
	+ ("command not busy, state = %u\n", cm->cm_state));
	cm->cm_state = MPR_CM_STATE_INQUEUE;

	if (sc->atomic_desc_capable) {
	@@ -1917,6 +1918,11 @@
	CTLTYPE_OPAQUE \| CTLFLAG_RD \| CTLFLAG_SKIP \| CTLFLAG_NEEDGIANT,
	sc, 0, mpr_dump_reqs, "I", "Dump Active Requests");

	+ SYSCTL_ADD_INT(sysctl_ctx, SYSCTL_CHILDREN(sysctl_tree),
	+ OID_AUTO, "dump_reqs_alltypes", CTLFLAG_RW,
	+ &sc->dump_reqs_alltypes, 0,
	+ "dump all request types not just inqueue");
	+
	SYSCTL_ADD_INT(sysctl_ctx, SYSCTL_CHILDREN(sysctl_tree),
	OID_AUTO, "use_phy_num", CTLFLAG_RD, &sc->use_phynum, 0,
	"Use the phy number for enumeration");
	@@ -2101,7 +2107,7 @@
	/* Best effort, no locking */
	for (i = smid; i < numreqs; i++) {
	cm = &sc->commands[i];
	- if (cm->cm_state != state)
	+ if ((sc->dump_reqs_alltypes == 0) && (cm->cm_state != state))
	continue;
	hdr.smid = i;
	hdr.state = cm->cm_state;
	@@ -2365,6 +2371,8 @@
	return;
	}

	+ KASSERT(cm->cm_state == MPR_CM_STATE_INQUEUE,
	+ ("command not inqueue, state = %u\n", cm->cm_state));
	cm->cm_state = MPR_CM_STATE_BUSY;
	if (cm->cm_flags & MPR_CM_FLAGS_POLLED)
	cm->cm_flags \|= MPR_CM_FLAGS_COMPLETE;
	@@ -2544,9 +2552,6 @@
	case MPI25_RPY_DESCRIPT_FLAGS_FAST_PATH_SCSI_IO_SUCCESS:
	case MPI26_RPY_DESCRIPT_FLAGS_PCIE_ENCAPSULATED_SUCCESS:
	cm = &sc->commands[le16toh(desc->SCSIIOSuccess.SMID)];
	- KASSERT(cm->cm_state == MPR_CM_STATE_INQUEUE,
	- ("command not inqueue\n"));
	- cm->cm_state = MPR_CM_STATE_BUSY;
	cm->cm_reply = NULL;
	break;
	case MPI2_RPY_DESCRIPT_FLAGS_ADDRESS_REPLY:
	diff --git a/sys/dev/mpr/mpr_sas.c b/sys/dev/mpr/mpr_sas.c
	--- a/sys/dev/mpr/mpr_sas.c
	+++ b/sys/dev/mpr/mpr_sas.c
	@@ -1194,7 +1194,7 @@
	"out\n", tm);

	KASSERT(tm->cm_state == MPR_CM_STATE_INQUEUE,
	- ("command not inqueue\n"));
	+ ("command not inqueue, state = %u\n", tm->cm_state));

	tm->cm_state = MPR_CM_STATE_BUSY;
	mpr_reinit(sc);
	@@ -2437,7 +2437,7 @@
	if (cm->cm_flags & MPR_CM_FLAGS_ON_RECOVERY) {
	TAILQ_REMOVE(&cm->cm_targ->timedout_commands, cm, cm_recovery);
	KASSERT(cm->cm_state == MPR_CM_STATE_BUSY,
	- ("Not busy for CM_FLAGS_TIMEDOUT: %d\n", cm->cm_state));
	+ ("Not busy for CM_FLAGS_TIMEDOUT: %u\n", cm->cm_state));
	cm->cm_flags &= ~MPR_CM_FLAGS_ON_RECOVERY;
	if (cm->cm_reply != NULL)
	mprsas_log_command(cm, MPR_RECOVERY,
	diff --git a/sys/dev/mpr/mpr_sas_lsi.c b/sys/dev/mpr/mpr_sas_lsi.c
	--- a/sys/dev/mpr/mpr_sas_lsi.c
	+++ b/sys/dev/mpr/mpr_sas_lsi.c
	@@ -125,6 +125,7 @@
	static int mprsas_get_sata_identify(struct mpr_softc *sc, u16 handle,
	Mpi2SataPassthroughReply_t mpi_reply, char id_buffer, int sz,
	u32 devinfo);
	+static void mprsas_ata_id_complete(struct mpr_softc , struct mpr_command );
	static void mprsas_ata_id_timeout(struct mpr_softc , struct mpr_command );
	int mprsas_get_sas_address_for_sata_disk(struct mpr_softc *sc,
	u64 sas_address, u16 handle, u32 device_info, u8 is_SATA_SSD);
	@@ -1005,7 +1006,8 @@
	* An Abort Task TM should be used instead of a Target Reset, but that
	* would be much more difficult because targets have not been fully
	* discovered yet, and LUN's haven't been setup. So, just reset the
	- * target instead of the LUN.
	+ * target instead of the LUN. The commands should complete once
	+ * the target has been reset.
	*/
	for (i = 1; i < sc->num_reqs; i++) {
	cm = &sc->commands[i];
	@@ -1033,16 +1035,6 @@
	}
	}
	out:
	- /*
	- * Free the commands that may not have been freed from the SATA ID call
	- */
	- for (i = 1; i < sc->num_reqs; i++) {
	- cm = &sc->commands[i];
	- if (cm->cm_flags & MPR_CM_FLAGS_SATA_ID_TIMEOUT) {
	- free(cm->cm_data, M_MPR);
	- mpr_free_command(sc, cm);
	- }
	- }
	mprsas_startup_decrement(sassc);
	return (error);
	}
	@@ -1218,8 +1210,8 @@
	out:
	/*
	* If the SATA_ID_TIMEOUT flag has been set for this command, don't free
	- * it. The command and buffer will be freed after sending an Abort
	- * Task TM.
	+ * it. The command and buffer will be freed after we send a Target
	+ * Reset TM and the command comes back from the controller.
	*/
	if ((cm->cm_flags & MPR_CM_FLAGS_SATA_ID_TIMEOUT) == 0) {
	mpr_free_command(sc, cm);
	@@ -1228,6 +1220,22 @@
	return (error);
	}

	+/*
	+ * This is completion handler to make sure that commands and allocated
	+ * buffers get freed when timed out SATA ID commands finally complete after
	+ * we've reset the target. In the normal case, we wait for the command to
	+ * complete.
	+ */
	+static void
	+mprsas_ata_id_complete(struct mpr_softc sc, struct mpr_command cm)
	+{
	+ mpr_dprint(sc, MPR_INFO, "%s ATA ID completed late cm %p sc %p\n",
	+ __func__, cm, sc);
	+
	+ free(cm->cm_data, M_MPR);
	+ mpr_free_command(sc, cm);
	+}
	+
	static void
	mprsas_ata_id_timeout(struct mpr_softc sc, struct mpr_command cm)
	{
	@@ -1242,7 +1250,12 @@
	* this command has timed out, it's no longer in the queue.
	*/
	cm->cm_flags \|= MPR_CM_FLAGS_SATA_ID_TIMEOUT;
	- cm->cm_state = MPR_CM_STATE_BUSY;
	+
	+ /*
	+ * Since we will no longer be waiting for the command to complete,
	+ * set a completion handler to make sure we free all resources.
	+ */
	+ cm->cm_complete = mprsas_ata_id_complete;
	}

	static int
	diff --git a/sys/dev/mpr/mprvar.h b/sys/dev/mpr/mprvar.h
	--- a/sys/dev/mpr/mprvar.h
	+++ b/sys/dev/mpr/mprvar.h
	@@ -367,6 +367,7 @@
	u_int enable_ssu;
	int spinup_wait_time;
	int use_phynum;
	+ int dump_reqs_alltypes;
	uint64_t chain_alloc_fail;
	uint64_t prp_page_alloc_fail;
	struct sysctl_ctx_list sysctl_ctx;
	@@ -617,7 +618,8 @@
	struct mpr_chain chain, chain_temp;
	struct mpr_prp_page prp_page, prp_page_temp;

	- KASSERT(cm->cm_state == MPR_CM_STATE_BUSY, ("state not busy\n"));
	+ KASSERT(cm->cm_state == MPR_CM_STATE_BUSY,
	+ ("state not busy, state = %u\n", cm->cm_state));

	if (cm->cm_reply != NULL)
	mpr_free_reply(sc, cm->cm_reply_data);
	@@ -658,7 +660,7 @@
	return (NULL);

	KASSERT(cm->cm_state == MPR_CM_STATE_FREE,
	- ("mpr: Allocating busy command\n"));
	+ ("mpr: Allocating busy command, state = %u\n", cm->cm_state));

	TAILQ_REMOVE(&sc->req_list, cm, cm_link);
	cm->cm_state = MPR_CM_STATE_BUSY;
	@@ -671,7 +673,8 @@
	{
	struct mpr_chain chain, chain_temp;

	- KASSERT(cm->cm_state == MPR_CM_STATE_BUSY, ("state not busy\n"));
	+ KASSERT(cm->cm_state == MPR_CM_STATE_BUSY,
	+ ("state not busy, state = %u\n", cm->cm_state));

	if (cm->cm_reply != NULL)
	mpr_free_reply(sc, cm->cm_reply_data);
	@@ -700,7 +703,7 @@
	return (NULL);

	KASSERT(cm->cm_state == MPR_CM_STATE_FREE,
	- ("mpr: Allocating busy command\n"));
	+ ("mpr: Allocating busy command, state = %u\n", cm->cm_state));

	TAILQ_REMOVE(&sc->high_priority_req_list, cm, cm_link);
	cm->cm_state = MPR_CM_STATE_BUSY;
	diff --git a/sys/dev/mps/mps.c b/sys/dev/mps/mps.c
	--- a/sys/dev/mps/mps.c
	+++ b/sys/dev/mps/mps.c
	@@ -1112,7 +1112,8 @@
	rd.u.high = cm->cm_desc.Words.High;
	rd.word = htole64(rd.word);

	- KASSERT(cm->cm_state == MPS_CM_STATE_BUSY, ("command not busy\n"));
	+ KASSERT(cm->cm_state == MPS_CM_STATE_BUSY,
	+ ("command not busy, state = %u\n", cm->cm_state));
	cm->cm_state = MPS_CM_STATE_INQUEUE;

	/* TODO-We may need to make below regwrite atomic */
	@@ -1774,6 +1775,11 @@
	CTLTYPE_OPAQUE \| CTLFLAG_RD \| CTLFLAG_SKIP \| CTLFLAG_NEEDGIANT,
	sc, 0, mps_dump_reqs, "I", "Dump Active Requests");

	+ SYSCTL_ADD_INT(sysctl_ctx, SYSCTL_CHILDREN(sysctl_tree),
	+ OID_AUTO, "dump_reqs_alltypes", CTLFLAG_RW,
	+ &sc->dump_reqs_alltypes, 0,
	+ "dump all request types not just inqueue");
	+
	SYSCTL_ADD_INT(sysctl_ctx, SYSCTL_CHILDREN(sysctl_tree),
	OID_AUTO, "use_phy_num", CTLFLAG_RD, &sc->use_phynum, 0,
	"Use the phy number for enumeration");
	@@ -1947,7 +1953,7 @@
	/* Best effort, no locking */
	for (i = smid; i < numreqs; i++) {
	cm = &sc->commands[i];
	- if (cm->cm_state != state)
	+ if ((sc->dump_reqs_alltypes == 0) && (cm->cm_state != state))
	continue;
	hdr.smid = i;
	hdr.state = cm->cm_state;
	@@ -2206,6 +2212,9 @@
	return;
	}

	+ KASSERT(cm->cm_state == MPS_CM_STATE_INQUEUE,
	+ ("command not inqueue, state = %u\n", cm->cm_state));
	+ cm->cm_state = MPS_CM_STATE_BUSY;
	if (cm->cm_flags & MPS_CM_FLAGS_POLLED)
	cm->cm_flags \|= MPS_CM_FLAGS_COMPLETE;

	@@ -2382,9 +2391,6 @@
	switch (flags) {
	case MPI2_RPY_DESCRIPT_FLAGS_SCSI_IO_SUCCESS:
	cm = &sc->commands[le16toh(desc->SCSIIOSuccess.SMID)];
	- KASSERT(cm->cm_state == MPS_CM_STATE_INQUEUE,
	- ("command not inqueue\n"));
	- cm->cm_state = MPS_CM_STATE_BUSY;
	cm->cm_reply = NULL;
	break;
	case MPI2_RPY_DESCRIPT_FLAGS_ADDRESS_REPLY:
	@@ -2460,7 +2466,6 @@
	cm = &sc->commands[
	le16toh(desc->AddressReply.SMID)];
	if (cm->cm_state == MPS_CM_STATE_INQUEUE) {
	- cm->cm_state = MPS_CM_STATE_BUSY;
	cm->cm_reply = reply;
	cm->cm_reply_data = le32toh(
	desc->AddressReply.ReplyFrameAddress);
	diff --git a/sys/dev/mps/mps_sas.c b/sys/dev/mps/mps_sas.c
	--- a/sys/dev/mps/mps_sas.c
	+++ b/sys/dev/mps/mps_sas.c
	@@ -1170,7 +1170,7 @@
	"task mgmt %p timed out\n", tm);

	KASSERT(tm->cm_state == MPS_CM_STATE_INQUEUE,
	- ("command not inqueue\n"));
	+ ("command not inqueue, state = %u\n", tm->cm_state));

	tm->cm_state = MPS_CM_STATE_BUSY;
	mps_reinit(sc);
	@@ -2015,7 +2015,7 @@
	if (cm->cm_flags & MPS_CM_FLAGS_ON_RECOVERY) {
	TAILQ_REMOVE(&cm->cm_targ->timedout_commands, cm, cm_recovery);
	KASSERT(cm->cm_state == MPS_CM_STATE_BUSY,
	- ("Not busy for CM_FLAGS_TIMEDOUT: %d\n", cm->cm_state));
	+ ("Not busy for CM_FLAGS_TIMEDOUT: %u\n", cm->cm_state));
	cm->cm_flags &= ~MPS_CM_FLAGS_ON_RECOVERY;
	if (cm->cm_reply != NULL)
	mpssas_log_command(cm, MPS_RECOVERY,
	diff --git a/sys/dev/mps/mps_sas_lsi.c b/sys/dev/mps/mps_sas_lsi.c
	--- a/sys/dev/mps/mps_sas_lsi.c
	+++ b/sys/dev/mps/mps_sas_lsi.c
	@@ -123,6 +123,7 @@
	static int mpssas_get_sata_identify(struct mps_softc *sc, u16 handle,
	Mpi2SataPassthroughReply_t mpi_reply, char id_buffer, int sz,
	u32 devinfo);
	+static void mpssas_ata_id_complete(struct mps_softc , struct mps_command );
	static void mpssas_ata_id_timeout(struct mps_softc , struct mps_command );
	int mpssas_get_sas_address_for_sata_disk(struct mps_softc *sc,
	u64 sas_address, u16 handle, u32 device_info, u8 is_SATA_SSD);
	@@ -780,7 +781,8 @@
	* An Abort Task TM should be used instead of a Target Reset, but that
	* would be much more difficult because targets have not been fully
	* discovered yet, and LUN's haven't been setup. So, just reset the
	- * target instead of the LUN.
	+ * target instead of the LUN. The commands should complete once the
	+ * target has been reset.
	*/
	for (i = 1; i < sc->num_reqs; i++) {
	cm = &sc->commands[i];
	@@ -808,16 +810,6 @@
	}
	}
	out:
	- /*
	- * Free the commands that may not have been freed from the SATA ID call
	- */
	- for (i = 1; i < sc->num_reqs; i++) {
	- cm = &sc->commands[i];
	- if (cm->cm_flags & MPS_CM_FLAGS_SATA_ID_TIMEOUT) {
	- free(cm->cm_data, M_MPT2);
	- mps_free_command(sc, cm);
	- }
	- }
	mpssas_startup_decrement(sassc);
	return (error);
	}
	@@ -993,8 +985,8 @@
	out:
	/*
	* If the SATA_ID_TIMEOUT flag has been set for this command, don't free
	- * it. The command and buffer will be freed after sending an Abort
	- * Task TM.
	+ * it. The command and buffer will be freed after we send a Target
	+ * Reset TM and the command comes back from the controller.
	*/
	if ((cm->cm_flags & MPS_CM_FLAGS_SATA_ID_TIMEOUT) == 0) {
	mps_free_command(sc, cm);
	@@ -1003,21 +995,41 @@
	return (error);
	}

	+/*
	+ * This is completion handler to make sure that commands and allocated
	+ * buffers get freed when timed out SATA ID commands finally complete after
	+ * we've reset the target. In the normal case, we wait for the command to
	+ * complete.
	+ */
	static void
	-mpssas_ata_id_timeout(struct mps_softc sc, struct mps_command cm)
	+mpssas_ata_id_complete(struct mps_softc sc, struct mps_command cm)
	{
	+ mps_dprint(sc, MPS_INFO, "%s ATA ID completed late cm %p sc %p\n",
	+ __func__, cm, sc);
	+
	+ free(cm->cm_data, M_MPT2);
	+ mps_free_command(sc, cm);
	+}

	+
	+static void
	+mpssas_ata_id_timeout(struct mps_softc sc, struct mps_command cm)
	+{
	mps_dprint(sc, MPS_INFO, "%s ATA ID command timeout cm %p sc %p\n",
	__func__, cm, sc);

	/*
	* The Abort Task cannot be sent from here because the driver has not
	* completed setting up targets. Instead, the command is flagged so
	- * that special handling will be used to send the abort. Now that
	- * this command has timed out, it's no longer in the queue.
	+ * that special handling will be used to send a target reset.
	*/
	cm->cm_flags \|= MPS_CM_FLAGS_SATA_ID_TIMEOUT;
	- cm->cm_state = MPS_CM_STATE_BUSY;
	+
	+ /*
	+ * Since we will no longer be waiting for the command to complete,
	+ * set a completion handler to make sure we free all resources.
	+ */
	+ cm->cm_complete = mpssas_ata_id_complete;
	}

	static int
	diff --git a/sys/dev/mps/mpsvar.h b/sys/dev/mps/mpsvar.h
	--- a/sys/dev/mps/mpsvar.h
	+++ b/sys/dev/mps/mpsvar.h
	@@ -326,6 +326,7 @@
	u_int enable_ssu;
	int spinup_wait_time;
	int use_phynum;
	+ int dump_reqs_alltypes;
	uint64_t chain_alloc_fail;
	struct sysctl_ctx_list sysctl_ctx;
	struct sysctl_oid *sysctl_tree;
	@@ -548,7 +549,7 @@
	struct mps_chain chain, chain_temp;

	KASSERT(cm->cm_state == MPS_CM_STATE_BUSY,
	- ("state not busy: %d\n", cm->cm_state));
	+ ("state not busy: %u\n", cm->cm_state));

	if (cm->cm_reply != NULL)
	mps_free_reply(sc, cm->cm_reply_data);
	@@ -584,7 +585,7 @@
	return (NULL);

	KASSERT(cm->cm_state == MPS_CM_STATE_FREE,
	- ("mps: Allocating busy command: %d\n", cm->cm_state));
	+ ("mps: Allocating busy command: %u\n", cm->cm_state));

	TAILQ_REMOVE(&sc->req_list, cm, cm_link);
	cm->cm_state = MPS_CM_STATE_BUSY;
	@@ -598,7 +599,7 @@
	struct mps_chain chain, chain_temp;

	KASSERT(cm->cm_state == MPS_CM_STATE_BUSY,
	- ("state not busy: %d\n", cm->cm_state));
	+ ("state not busy: %u\n", cm->cm_state));

	if (cm->cm_reply != NULL)
	mps_free_reply(sc, cm->cm_reply_data);
	@@ -627,7 +628,7 @@
	return (NULL);

	KASSERT(cm->cm_state == MPS_CM_STATE_FREE,
	- ("mps: Allocating high priority busy command: %d\n", cm->cm_state));
	+ ("mps: Allocating high priority busy command: %u\n", cm->cm_state));

	TAILQ_REMOVE(&sc->high_priority_req_list, cm, cm_link);
	cm->cm_state = MPS_CM_STATE_BUSY;

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