diff --git a/drivers/scsi/hpsa.c b/drivers/scsi/hpsa.c
index cc3128f..dcacb29 100644
--- a/drivers/scsi/hpsa.c
+++ b/drivers/scsi/hpsa.c
@@ -248,6 +248,7 @@
 static int hpsa_scsi_ioaccel_queue_command(struct ctlr_info *h,
 	struct CommandList *c, u32 ioaccel_handle, u8 *cdb, int cdb_len,
 	u8 *scsi3addr);
+static void hpsa_command_resubmit_worker(struct work_struct *work);
 
 static inline struct ctlr_info *sdev_to_hba(struct scsi_device *sdev)
 {
@@ -1619,7 +1620,6 @@
 		struct hpsa_scsi_dev_t *dev)
 {
 	struct io_accel2_cmd *c2 = &h->ioaccel2_cmd_pool[c->cmdindex];
-	int raid_retry = 0;
 
 	/* check for good status */
 	if (likely(c2->error_data.serv_response == 0 &&
@@ -1636,24 +1636,22 @@
 	if (is_logical_dev_addr_mode(dev->scsi3addr) &&
 		c2->error_data.serv_response ==
 			IOACCEL2_SERV_RESPONSE_FAILURE) {
-		dev->offload_enabled = 0;
-		cmd->result = DID_SOFT_ERROR << 16;
-		cmd_free(h, c);
-		cmd->scsi_done(cmd);
-		return;
+		if (c2->error_data.status ==
+			IOACCEL2_STATUS_SR_IOACCEL_DISABLED)
+			dev->offload_enabled = 0;
+		goto retry_cmd;
 	}
-	raid_retry = handle_ioaccel_mode2_error(h, c, cmd, c2);
-	/* If error found, disable Smart Path,
-	 * force a retry on the standard path.
-	 */
-	if (raid_retry) {
-		dev_warn(&h->pdev->dev, "%s: Retrying on standard path.\n",
-			"HP SSD Smart Path");
-		dev->offload_enabled = 0; /* Disable Smart Path */
-		cmd->result = DID_SOFT_ERROR << 16;
-	}
+
+	if (handle_ioaccel_mode2_error(h, c, cmd, c2))
+		goto retry_cmd;
+
 	cmd_free(h, c);
 	cmd->scsi_done(cmd);
+	return;
+
+retry_cmd:
+	INIT_WORK(&c->work, hpsa_command_resubmit_worker);
+	queue_work_on(raw_smp_processor_id(), h->resubmit_wq, &c->work);
 }
 
 static void complete_scsi_command(struct CommandList *cp)
@@ -1723,9 +1721,9 @@
 		if (is_logical_dev_addr_mode(dev->scsi3addr)) {
 			if (ei->CommandStatus == CMD_IOACCEL_DISABLED)
 				dev->offload_enabled = 0;
-			cmd->result = DID_SOFT_ERROR << 16;
-			cmd_free(h, cp);
-			cmd->scsi_done(cmd);
+			INIT_WORK(&cp->work, hpsa_command_resubmit_worker);
+			queue_work_on(raw_smp_processor_id(),
+					h->resubmit_wq, &cp->work);
 			return;
 		}
 	}
@@ -3873,6 +3871,31 @@
 	return 0;
 }
 
+static void hpsa_command_resubmit_worker(struct work_struct *work)
+{
+	struct scsi_cmnd *cmd;
+	struct hpsa_scsi_dev_t *dev;
+	struct CommandList *c =
+			container_of(work, struct CommandList, work);
+
+	cmd = c->scsi_cmd;
+	dev = cmd->device->hostdata;
+	if (!dev) {
+		cmd->result = DID_NO_CONNECT << 16;
+		cmd->scsi_done(cmd);
+		return;
+	}
+	if (hpsa_ciss_submit(c->h, c, cmd, dev->scsi3addr)) {
+		/*
+		 * If we get here, it means dma mapping failed. Try
+		 * again via scsi mid layer, which will then get
+		 * SCSI_MLQUEUE_HOST_BUSY.
+		 */
+		cmd->result = DID_IMM_RETRY << 16;
+		cmd->scsi_done(cmd);
+	}
+}
+
 /* Running in struct Scsi_Host->host_lock less mode */
 static int hpsa_scsi_queue_command(struct Scsi_Host *sh, struct scsi_cmnd *cmd)
 {
@@ -6396,6 +6419,7 @@
 	int i;
 	struct CommandList *c = NULL;
 
+	flush_workqueue(h->resubmit_wq); /* ensure all cmds are fully built */
 	for (i = 0; i < h->nr_cmds; i++) {
 		if (!test_bit(i & (BITS_PER_LONG - 1),
 				h->cmd_pool_bits + (i / BITS_PER_LONG)))
@@ -6631,6 +6655,12 @@
 	spin_lock_init(&h->scan_lock);
 	spin_lock_init(&h->passthru_count_lock);
 
+	h->resubmit_wq = alloc_workqueue("hpsa", WQ_MEM_RECLAIM, 0);
+	if (!h->resubmit_wq) {
+		dev_err(&h->pdev->dev, "Failed to allocate work queue\n");
+		rc = -ENOMEM;
+		goto clean1;
+	}
 	/* Allocate and clear per-cpu variable lockup_detected */
 	h->lockup_detected = alloc_percpu(u32);
 	if (!h->lockup_detected) {
@@ -6763,6 +6793,8 @@
 	hpsa_free_irqs(h);
 clean2:
 clean1:
+	if (h->resubmit_wq)
+		destroy_workqueue(h->resubmit_wq);
 	if (h->lockup_detected)
 		free_percpu(h->lockup_detected);
 	kfree(h);
@@ -6838,9 +6870,9 @@
 	h->remove_in_progress = 1;
 	cancel_delayed_work(&h->monitor_ctlr_work);
 	spin_unlock_irqrestore(&h->lock, flags);
-
 	hpsa_unregister_scsi(h);	/* unhook from SCSI subsystem */
 	hpsa_shutdown(pdev);
+	destroy_workqueue(h->resubmit_wq);
 	iounmap(h->vaddr);
 	iounmap(h->transtable);
 	iounmap(h->cfgtable);
diff --git a/drivers/scsi/hpsa.h b/drivers/scsi/hpsa.h
index 06a3e81..a0f4268 100644
--- a/drivers/scsi/hpsa.h
+++ b/drivers/scsi/hpsa.h
@@ -236,6 +236,7 @@
 	struct list_head offline_device_list;
 	int	acciopath_status;
 	int	raid_offload_debug;
+	struct workqueue_struct *resubmit_wq;
 };
 
 struct offline_device_entry {
diff --git a/drivers/scsi/hpsa_cmd.h b/drivers/scsi/hpsa_cmd.h
index d78e666..3f2f0af 100644
--- a/drivers/scsi/hpsa_cmd.h
+++ b/drivers/scsi/hpsa_cmd.h
@@ -404,6 +404,7 @@
 	long			   cmdindex;
 	struct completion *waiting;
 	void   *scsi_cmd;
+	struct work_struct work;
 } __aligned(COMMANDLIST_ALIGNMENT);
 
 /* Max S/G elements in I/O accelerator command */