libata: workaround DRQ=1 ERR=1 for ATAPI tape drives

After an error condition, some ATAPI tape drives set DRQ=1 together
with ERR=1 when asking the host to transfer the CDB of the next packet
command (i.e. request sense).  This patch, a revised version of
Alan/Mark's previous patch, adds ATA_HORKAGE_STUCK_ERR to workaround
the problem by ignoring the ERR bit and proceed sending the CDB.

Signed-off-by: Albert Lee <albertcc@tw.ibm.com>
Cc: Alan Cox <alan@lxorguk.ukuu.org.uk>
Cc: Mark Lord <liml@rtr.ca>
Signed-off-by: Tejun Heo <htejun@gmail.com>