diff --git a/sys/cam/cam_periph.c b/sys/cam/cam_periph.c
index 02c8785fc59..d365a125b87 100644
--- a/sys/cam/cam_periph.c
+++ b/sys/cam/cam_periph.c
@@ -26,7 +26,7 @@
  * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
  * SUCH DAMAGE.
  *
- *      $Id: cam_periph.c,v 1.11 1999/04/06 03:05:36 peter Exp $
+ *      $Id: cam_periph.c,v 1.12 1999/04/19 21:26:07 gibbs Exp $
  */
 
 #include <sys/param.h>
@@ -1505,7 +1505,23 @@ cam_periph_error(union ccb *ccb, cam_flags camflags,
 		xpt_async(AC_LOST_DEVICE, newpath, NULL);
 		xpt_free_path(newpath);
 #endif
-		error = ENXIO;
+		if ((sense_flags & SF_RETRY_SELTO) != 0) {
+			retry = ccb->ccb_h.retry_count > 0;
+			if (retry) {
+				ccb->ccb_h.retry_count--;
+				error = ERESTART;
+				/*
+				 * Wait half a second to give the device
+				 * time to recover before we try again.
+				 */
+				relsim_flags = RELSIM_RELEASE_AFTER_TIMEOUT;
+				timeout = 500;
+			} else {
+				error = ENXIO;
+			}
+		} else {
+			error = ENXIO;
+		}
 		break;
 	}
 	case CAM_REQ_INVALID:
diff --git a/sys/cam/scsi/scsi_all.h b/sys/cam/scsi/scsi_all.h
index ccbab9d7863..bedd1444023 100644
--- a/sys/cam/scsi/scsi_all.h
+++ b/sys/cam/scsi/scsi_all.h
@@ -14,7 +14,7 @@
  *
  * Ported to run under 386BSD by Julian Elischer (julian@tfs.com) Sept 1992
  *
- *	$Id: scsi_all.h,v 1.5 1998/10/15 19:08:58 ken Exp $
+ *	$Id: scsi_all.h,v 1.6 1998/12/05 22:10:14 mjacob Exp $
  */
 
 /*
@@ -712,6 +712,7 @@ int		scsi_interpret_sense(struct cam_device *device,
 #define SF_NO_PRINT	0x02
 #define SF_QUIET_IR	0x04	/* Be quiet about Illegal Request reponses */
 #define SF_PRINT_ALWAYS	0x08
+#define SF_RETRY_SELTO	0x10	/* Retry selection timeouts */
 
 
 const char *	scsi_op_desc(u_int16_t opcode, 
diff --git a/sys/cam/scsi/scsi_cd.c b/sys/cam/scsi/scsi_cd.c
index eb7fd9977b0..8779545100b 100644
--- a/sys/cam/scsi/scsi_cd.c
+++ b/sys/cam/scsi/scsi_cd.c
@@ -24,7 +24,7 @@
  * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
  * SUCH DAMAGE.
  *
- *      $Id: scsi_cd.c,v 1.18 1999/05/06 20:16:03 ken Exp $
+ *      $Id: scsi_cd.c,v 1.19 1999/05/07 07:02:57 phk Exp $
  */
 /*
  * Portions of this driver taken from the original FreeBSD cd driver.
@@ -270,10 +270,10 @@ static struct extend_array *cdperiphs;
 static int num_changers;
 
 #ifndef CHANGER_MIN_BUSY_SECONDS
-#define CHANGER_MIN_BUSY_SECONDS	2
+#define CHANGER_MIN_BUSY_SECONDS	5
 #endif
 #ifndef CHANGER_MAX_BUSY_SECONDS
-#define CHANGER_MAX_BUSY_SECONDS	10
+#define CHANGER_MAX_BUSY_SECONDS	15
 #endif
 
 static int changer_min_busy_seconds = CHANGER_MIN_BUSY_SECONDS;
@@ -1583,7 +1583,10 @@ cddone(struct cam_periph *periph, union ccb *done_ccb)
 				sf = SF_RETRY_UA;
 			else
 				sf = 0;
-			
+
+			/* Retry selection timeouts */
+			sf |= SF_RETRY_SELTO;
+
 			if ((error = cderror(done_ccb, 0, sf)) == ERESTART) {
 				/*
 				 * A retry was scheuled, so
@@ -1688,7 +1691,8 @@ cddone(struct cam_periph *periph, union ccb *done_ccb)
 			 * Retry any UNIT ATTENTION type errors.  They
 			 * are expected at boot.
 			 */
-			error = cderror(done_ccb, 0, SF_RETRY_UA|SF_NO_PRINT);
+			error = cderror(done_ccb, 0, SF_RETRY_UA |
+					SF_NO_PRINT | SF_RETRY_SELTO);
 			if (error == ERESTART) {
 				/*
 				 * A retry was scheuled, so
@@ -2512,7 +2516,7 @@ cdprevent(struct cam_periph *periph, int action)
 		     /* timeout */60000);
 	
 	error = cdrunccb(ccb, cderror, /*cam_flags*/0,
-				  /*sense_flags*/SF_RETRY_UA|SF_NO_PRINT);
+			/*sense_flags*/SF_RETRY_UA|SF_NO_PRINT|SF_RETRY_SELTO);
 
 	xpt_release_ccb(ccb);
 
@@ -2556,7 +2560,7 @@ cdsize(dev_t dev, u_int32_t *size)
 			   /* timeout */20000);
 
 	error = cdrunccb(ccb, cderror, /*cam_flags*/0,
-				  /*sense_flags*/SF_RETRY_UA|SF_NO_PRINT);
+			 /*sense_flags*/SF_RETRY_UA|SF_NO_PRINT|SF_RETRY_SELTO);
 
 	xpt_release_ccb(ccb);
 
@@ -2633,7 +2637,7 @@ cdreadtoc(struct cam_periph *periph, u_int32_t mode, u_int32_t start,
 	scsi_cmd->op_code = READ_TOC;
 
 	error = cdrunccb(ccb, cderror, /*cam_flags*/0,
-				  /*sense_flags*/SF_RETRY_UA);
+			 /*sense_flags*/SF_RETRY_UA|SF_RETRY_SELTO);
 
 	xpt_release_ccb(ccb);
 
@@ -2680,7 +2684,7 @@ cdreadsubchannel(struct cam_periph *periph, u_int32_t mode,
 	scsi_cmd->control = 0;
 
 	error = cdrunccb(ccb, cderror, /*cam_flags*/0,
-				  /*sense_flags*/SF_RETRY_UA);
+			 /*sense_flags*/SF_RETRY_UA|SF_RETRY_SELTO);
 
 	xpt_release_ccb(ccb);
 
@@ -2720,7 +2724,7 @@ cdgetmode(struct cam_periph *periph, struct cd_mode_data *data, u_int32_t page)
 	scsi_cmd->opcode = MODE_SENSE;
 
 	error = cdrunccb(ccb, cderror, /*cam_flags*/0,
-				  /*sense_flags*/SF_RETRY_UA);
+			 /*sense_flags*/SF_RETRY_UA|SF_RETRY_SELTO);
 
 	xpt_release_ccb(ccb);
 
@@ -2767,7 +2771,7 @@ cdsetmode(struct cam_periph *periph, struct cd_mode_data *data)
 	data->header.medium_type = 0;
 
 	error = cdrunccb(ccb, cderror, /*cam_flags*/0,
-				  /*sense_flags*/SF_RETRY_UA);
+			 /*sense_flags*/SF_RETRY_UA | SF_RETRY_SELTO);
 
 	xpt_release_ccb(ccb);
 
@@ -2823,7 +2827,7 @@ cdplay(struct cam_periph *periph, u_int32_t blk, u_int32_t len)
 		      /*timeout*/50 * 1000);
 
 	error = cdrunccb(ccb, cderror, /*cam_flags*/0,
-			 /*sense_flags*/SF_RETRY_UA);
+			 /*sense_flags*/SF_RETRY_UA | SF_RETRY_SELTO);
 
 	xpt_release_ccb(ccb);
 
@@ -2868,7 +2872,7 @@ cdplaymsf(struct cam_periph *periph, u_int32_t startm, u_int32_t starts,
         scsi_cmd->end_f = endf; 
 
 	error = cdrunccb(ccb, cderror, /*cam_flags*/0,
-				  /*sense_flags*/SF_RETRY_UA);
+			 /*sense_flags*/SF_RETRY_UA | SF_RETRY_SELTO);
 	
 	xpt_release_ccb(ccb);
 
@@ -2912,7 +2916,7 @@ cdplaytracks(struct cam_periph *periph, u_int32_t strack, u_int32_t sindex,
         scsi_cmd->end_index = eindex;
 
 	error = cdrunccb(ccb, cderror, /*cam_flags*/0,
-				  /*sense_flags*/SF_RETRY_UA);
+			 /*sense_flags*/SF_RETRY_UA | SF_RETRY_SELTO);
 
 	xpt_release_ccb(ccb);
 
@@ -2951,7 +2955,7 @@ cdpause(struct cam_periph *periph, u_int32_t go)
 	scsi_cmd->resume = go;
 
 	error = cdrunccb(ccb, cderror, /*cam_flags*/0,
-				  /*sense_flags*/SF_RETRY_UA);
+			 /*sense_flags*/SF_RETRY_UA |SF_RETRY_SELTO);
 
 	xpt_release_ccb(ccb);
 
@@ -2979,7 +2983,7 @@ cdstartunit(struct cam_periph *periph)
 			/* timeout */ 50000);
 
 	error = cdrunccb(ccb, cderror, /*cam_flags*/0,
-				  /*sense_flags*/SF_RETRY_UA);
+			 /*sense_flags*/SF_RETRY_UA | SF_RETRY_SELTO);
 
 	xpt_release_ccb(ccb);
 
@@ -3007,7 +3011,7 @@ cdstopunit(struct cam_periph *periph, u_int32_t eject)
 			/* timeout */ 50000);
 
 	error = cdrunccb(ccb, cderror, /*cam_flags*/0,
-				  /*sense_flags*/SF_RETRY_UA);
+			 /*sense_flags*/SF_RETRY_UA | SF_RETRY_SELTO);
 
 	xpt_release_ccb(ccb);
 
diff --git a/sys/cam/scsi/scsi_ch.c b/sys/cam/scsi/scsi_ch.c
index 384e9b409d5..418426f5b07 100644
--- a/sys/cam/scsi/scsi_ch.c
+++ b/sys/cam/scsi/scsi_ch.c
@@ -24,7 +24,7 @@
  * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
  * SUCH DAMAGE.
  *
- *      $Id: scsi_ch.c,v 1.9 1998/12/22 20:05:23 eivind Exp $
+ *      $Id: scsi_ch.c,v 1.10 1999/02/10 00:03:15 ken Exp $
  */
 /*
  * Derived from the NetBSD SCSI changer driver.
@@ -634,7 +634,8 @@ chdone(struct cam_periph *periph, union ccb *done_ccb)
 		} else {
 			int error;
 
-			error = cherror(done_ccb, 0, SF_RETRY_UA|SF_NO_PRINT);
+			error = cherror(done_ccb, 0, SF_RETRY_UA |
+					SF_NO_PRINT | SF_RETRY_SELTO);
 			/*
 			 * Retry any UNIT ATTENTION type errors.  They
 			 * are expected at boot.
@@ -874,7 +875,7 @@ chmove(struct cam_periph *periph, struct changer_move *cm)
 			 /* timeout */ CH_TIMEOUT_MOVE_MEDIUM);
 
 	error = cam_periph_runccb(ccb, cherror, /*cam_flags*/0,
-				  /*sense_flags*/ SF_RETRY_UA,
+				  /*sense_flags*/ SF_RETRY_UA | SF_RETRY_SELTO,
 				  &softc->device_stats);
 
 	xpt_release_ccb(ccb);
@@ -937,7 +938,7 @@ chexchange(struct cam_periph *periph, struct changer_exchange *ce)
 			     /* timeout */ CH_TIMEOUT_EXCHANGE_MEDIUM);
 
 	error = cam_periph_runccb(ccb, cherror, /*cam_flags*/0,
-				  /*sense_flags*/ SF_RETRY_UA,
+				  /*sense_flags*/ SF_RETRY_UA | SF_RETRY_SELTO,
 				  &softc->device_stats);
 
 	xpt_release_ccb(ccb);
@@ -983,7 +984,7 @@ chposition(struct cam_periph *periph, struct changer_position *cp)
 				 /* timeout */ CH_TIMEOUT_POSITION_TO_ELEMENT);
 
 	error = cam_periph_runccb(ccb, cherror, /*cam_flags*/ 0,
-				  /*sense_flags*/ SF_RETRY_UA,
+				  /*sense_flags*/ SF_RETRY_UA | SF_RETRY_SELTO,
 				  &softc->device_stats);
 
 	xpt_release_ccb(ccb);
@@ -1139,7 +1140,7 @@ chgetelemstatus(struct cam_periph *periph,
 				 /* timeout */ CH_TIMEOUT_READ_ELEMENT_STATUS);
 
 	error = cam_periph_runccb(ccb, cherror, /*cam_flags*/ 0,
-				  /* sense_flags */ SF_RETRY_UA,
+				  /*sense_flags*/ SF_RETRY_UA | SF_RETRY_SELTO,
 				  &softc->device_stats);
 
 	if (error)
@@ -1175,7 +1176,7 @@ chgetelemstatus(struct cam_periph *periph,
 				 /* timeout */ CH_TIMEOUT_READ_ELEMENT_STATUS);
 	
 	error = cam_periph_runccb(ccb, cherror, /*cam_flags*/ 0,
-				  /* sense_flags */ SF_RETRY_UA,
+				  /*sense_flags*/ SF_RETRY_UA | SF_RETRY_SELTO,
 				  &softc->device_stats);
 
 	if (error)
@@ -1254,7 +1255,7 @@ chielem(struct cam_periph *periph,
 				      /* timeout */ timeout);
 
 	error = cam_periph_runccb(ccb, cherror, /*cam_flags*/ 0,
-				  /* sense_flags */ SF_RETRY_UA,
+				  /*sense_flags*/ SF_RETRY_UA | SF_RETRY_SELTO,
 				  &softc->device_stats);
 
 	xpt_release_ccb(ccb);
@@ -1341,7 +1342,7 @@ chsetvoltag(struct cam_periph *periph,
 			     /* timeout */ CH_TIMEOUT_SEND_VOLTAG);
 	
 	error = cam_periph_runccb(ccb, cherror, /*cam_flags*/ 0,
-				  /*sense_flags*/ SF_RETRY_UA,
+				  /*sense_flags*/ SF_RETRY_UA | SF_RETRY_SELTO,
 				  &softc->device_stats);
 
 	xpt_release_ccb(ccb);
@@ -1405,7 +1406,8 @@ chgetparams(struct cam_periph *periph)
 			/* timeout */ CH_TIMEOUT_MODE_SENSE);
 
 	error = cam_periph_runccb(ccb, cherror, /*cam_flags*/ 0,
-				  /* sense_flags */ SF_RETRY_UA |SF_NO_PRINT,
+				  /* sense_flags */ SF_RETRY_UA |
+				  SF_NO_PRINT | SF_RETRY_SELTO,
 				  &softc->device_stats);
 
 	if (error) {
@@ -1417,7 +1419,8 @@ chgetparams(struct cam_periph *periph)
 
 			sms->byte2 &= ~SMS_DBD;
 			error = cam_periph_runccb(ccb, cherror, /*cam_flags*/ 0,
-				  		  /* sense_flags */ SF_RETRY_UA,
+				  		  /*sense_flags*/ SF_RETRY_UA |
+						  SF_RETRY_SELTO,
 						  &softc->device_stats);
 		} else {
 			/*
@@ -1467,8 +1470,8 @@ chgetparams(struct cam_periph *periph)
 			/* timeout */ CH_TIMEOUT_MODE_SENSE);
 	
 	error = cam_periph_runccb(ccb, cherror, /*cam_flags*/ 0,
-				  /* sense_flags */ SF_RETRY_UA|SF_NO_PRINT,
-				  &softc->device_stats);
+				  /* sense_flags */ SF_RETRY_UA | SF_NO_PRINT |
+				  SF_RETRY_SELTO, &softc->device_stats);
 
 	if (error) {
 		if (dbd) {
@@ -1479,7 +1482,8 @@ chgetparams(struct cam_periph *periph)
 
 			sms->byte2 &= ~SMS_DBD;
 			error = cam_periph_runccb(ccb, cherror, /*cam_flags*/ 0,
-				  		  /* sense_flags */ SF_RETRY_UA,
+				  		  /*sense_flags*/ SF_RETRY_UA |
+						  SF_RETRY_SELTO,
 						  &softc->device_stats);
 		} else {
 			/*
diff --git a/sys/cam/scsi/scsi_da.c b/sys/cam/scsi/scsi_da.c
index faf276087ba..980911e9b05 100644
--- a/sys/cam/scsi/scsi_da.c
+++ b/sys/cam/scsi/scsi_da.c
@@ -25,7 +25,7 @@
  * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
  * SUCH DAMAGE.
  *
- *      $Id: scsi_da.c,v 1.22 1999/05/06 20:16:04 ken Exp $
+ *      $Id: scsi_da.c,v 1.23 1999/05/07 07:02:59 phk Exp $
  */
 
 #include "opt_hw_wdog.h"
@@ -333,7 +333,8 @@ daopen(dev_t dev, int flags, int fmt, struct proc *p)
 		ccb->ccb_h.ccb_bp = NULL;
 
 		error = cam_periph_runccb(ccb, daerror, /*cam_flags*/0,
-					  /*sense_flags*/SF_RETRY_UA,
+					  /*sense_flags*/SF_RETRY_UA |
+							 SF_RETRY_SELTO,
 					  &softc->device_stats);
 
 		xpt_release_ccb(ccb);
@@ -1217,6 +1218,9 @@ dadone(struct cam_periph *periph, union ccb *done_ccb)
 			else
 				sf = 0;
 
+			/* Retry selection timeouts */
+			sf |= SF_RETRY_SELTO;
+
 			if ((error = daerror(done_ccb, 0, sf)) == ERESTART) {
 				/*
 				 * A retry was scheuled, so
@@ -1323,7 +1327,8 @@ dadone(struct cam_periph *periph, union ccb *done_ccb)
 			 * Retry any UNIT ATTENTION type errors.  They
 			 * are expected at boot.
 			 */
-			error = daerror(done_ccb, 0, SF_RETRY_UA|SF_NO_PRINT);
+			error = daerror(done_ccb, 0, SF_RETRY_UA |
+					SF_RETRY_SELTO | SF_NO_PRINT);
 			if (error == ERESTART) {
 				/*
 				 * A retry was scheuled, so
diff --git a/sys/cam/scsi/scsi_pass.c b/sys/cam/scsi/scsi_pass.c
index ab8a7fd33e5..897a49f8c30 100644
--- a/sys/cam/scsi/scsi_pass.c
+++ b/sys/cam/scsi/scsi_pass.c
@@ -24,7 +24,7 @@
  * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
  * SUCH DAMAGE.
  *
- *      $Id: scsi_pass.c,v 1.7 1999/05/06 20:16:05 ken Exp $
+ *      $Id: scsi_pass.c,v 1.8 1999/05/07 07:03:00 phk Exp $
  */
 
 #include <sys/param.h>
@@ -819,7 +819,7 @@ passsendccb(struct cam_periph *periph, union ccb *ccb, union ccb *inccb)
 				  (ccb->ccb_h.flags & CAM_PASS_ERR_RECOVER) ?
 				  passerror : NULL,
 				  /* cam_flags */ 0,
-				  /* sense_flags */SF_RETRY_UA,
+				  /* sense_flags */SF_RETRY_UA | SF_RETRY_SELTO,
 				  &softc->device_stats);
 
 	if (need_unmap != 0)
diff --git a/sys/cam/scsi/scsi_pt.c b/sys/cam/scsi/scsi_pt.c
index 50469c2d278..7762b64a2f5 100644
--- a/sys/cam/scsi/scsi_pt.c
+++ b/sys/cam/scsi/scsi_pt.c
@@ -25,7 +25,7 @@
  * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
  * SUCH DAMAGE.
  *
- *      $Id: scsi_pt.c,v 1.5 1999/02/10 00:03:15 ken Exp $
+ *      $Id: scsi_pt.c,v 1.6 1999/05/07 07:03:01 phk Exp $
  */
 
 #include <sys/param.h>
@@ -606,6 +606,8 @@ ptdone(struct cam_periph *periph, union ccb *done_ccb)
 			else
 				sf = 0;
 
+			sf |= SF_RETRY_SELTO;
+
 			if ((error = pterror(done_ccb, 0, sf)) == ERESTART) {
 				/*
 				 * A retry was scheuled, so
diff --git a/sys/cam/scsi/scsi_sa.c b/sys/cam/scsi/scsi_sa.c
index 1a1e8402be5..4ba4d071733 100644
--- a/sys/cam/scsi/scsi_sa.c
+++ b/sys/cam/scsi/scsi_sa.c
@@ -25,7 +25,7 @@
  * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
  * SUCH DAMAGE.
  *
- *      $Id: scsi_sa.c,v 1.21 1999/04/18 01:05:03 mjacob Exp $
+ *      $Id: scsi_sa.c,v 1.22 1999/05/07 07:03:02 phk Exp $
  */
 
 #include <sys/param.h>
@@ -1589,7 +1589,7 @@ samount(struct cam_periph *periph, int oflags, dev_t dev)
 		    rblim, SSD_FULL_SIZE, 5000);
 
 		error = cam_periph_runccb(ccb, saerror, 0,
-		    SF_RETRY_UA, &softc->device_stats);
+		    SF_RETRY_UA | SF_RETRY_SELTO, &softc->device_stats);
 
 		xpt_release_ccb(ccb);
 
@@ -2774,6 +2774,8 @@ sareservereleaseunit(struct cam_periph *periph, int reserve)
 	else
 		sflag = SF_RETRY_UA|SF_QUIET_IR;
 
+	sflag |= SF_RETRY_SELTO;
+
 	ccb = cam_periph_getccb(periph,  1);
 
 	/* It is safe to retry this operation */