diff --git a/drivers/iommu/arm/arm-smmu-v3/arm-smmu-v3-test.c b/drivers/iommu/arm/arm-smmu-v3/arm-smmu-v3-test.c
index 315e487fd990eb..a460b71f585789 100644
--- a/drivers/iommu/arm/arm-smmu-v3/arm-smmu-v3-test.c
+++ b/drivers/iommu/arm/arm-smmu-v3/arm-smmu-v3-test.c
@@ -164,7 +164,7 @@ static void arm_smmu_test_make_cdtable_ste(struct arm_smmu_ste *ste,
 		.smmu = &smmu,
 	};
 
-	arm_smmu_make_cdtable_ste(ste, &master);
+	arm_smmu_make_cdtable_ste(ste, &master, true);
 }
 
 static void arm_smmu_v3_write_ste_test_bypass_to_abort(struct kunit *test)
@@ -231,7 +231,6 @@ static void arm_smmu_test_make_s2_ste(struct arm_smmu_ste *ste,
 {
 	struct arm_smmu_master master = {
 		.smmu = &smmu,
-		.ats_enabled = ats_enabled,
 	};
 	struct io_pgtable io_pgtable = {};
 	struct arm_smmu_domain smmu_domain = {
@@ -247,7 +246,7 @@ static void arm_smmu_test_make_s2_ste(struct arm_smmu_ste *ste,
 	io_pgtable.cfg.arm_lpae_s2_cfg.vtcr.sl = 3;
 	io_pgtable.cfg.arm_lpae_s2_cfg.vtcr.tsz = 4;
 
-	arm_smmu_make_s2_domain_ste(ste, &master, &smmu_domain);
+	arm_smmu_make_s2_domain_ste(ste, &master, &smmu_domain, ats_enabled);
 }
 
 static void arm_smmu_v3_write_ste_test_s2_to_abort(struct kunit *test)
diff --git a/drivers/iommu/arm/arm-smmu-v3/arm-smmu-v3.c b/drivers/iommu/arm/arm-smmu-v3/arm-smmu-v3.c
index 532fe17f28bfe5..01e970f6ee4363 100644
--- a/drivers/iommu/arm/arm-smmu-v3/arm-smmu-v3.c
+++ b/drivers/iommu/arm/arm-smmu-v3/arm-smmu-v3.c
@@ -1538,7 +1538,7 @@ EXPORT_SYMBOL_IF_KUNIT(arm_smmu_make_bypass_ste);
 
 VISIBLE_IF_KUNIT
 void arm_smmu_make_cdtable_ste(struct arm_smmu_ste *target,
-			       struct arm_smmu_master *master)
+			       struct arm_smmu_master *master, bool ats_enabled)
 {
 	struct arm_smmu_ctx_desc_cfg *cd_table = &master->cd_table;
 	struct arm_smmu_device *smmu = master->smmu;
@@ -1561,7 +1561,7 @@ void arm_smmu_make_cdtable_ste(struct arm_smmu_ste *target,
 			 STRTAB_STE_1_S1STALLD :
 			 0) |
 		FIELD_PREP(STRTAB_STE_1_EATS,
-			   master->ats_enabled ? STRTAB_STE_1_EATS_TRANS : 0));
+			   ats_enabled ? STRTAB_STE_1_EATS_TRANS : 0));
 
 	if (smmu->features & ARM_SMMU_FEAT_E2H) {
 		/*
@@ -1591,7 +1591,8 @@ EXPORT_SYMBOL_IF_KUNIT(arm_smmu_make_cdtable_ste);
 VISIBLE_IF_KUNIT
 void arm_smmu_make_s2_domain_ste(struct arm_smmu_ste *target,
 				 struct arm_smmu_master *master,
-				 struct arm_smmu_domain *smmu_domain)
+				 struct arm_smmu_domain *smmu_domain,
+				 bool ats_enabled)
 {
 	struct arm_smmu_s2_cfg *s2_cfg = &smmu_domain->s2_cfg;
 	const struct io_pgtable_cfg *pgtbl_cfg =
@@ -1608,7 +1609,7 @@ void arm_smmu_make_s2_domain_ste(struct arm_smmu_ste *target,
 
 	target->data[1] = cpu_to_le64(
 		FIELD_PREP(STRTAB_STE_1_EATS,
-			   master->ats_enabled ? STRTAB_STE_1_EATS_TRANS : 0));
+			   ats_enabled ? STRTAB_STE_1_EATS_TRANS : 0));
 
 	if (smmu->features & ARM_SMMU_FEAT_ATTR_TYPES_OVR)
 		target->data[1] |= cpu_to_le64(FIELD_PREP(STRTAB_STE_1_SHCFG,
@@ -2450,22 +2451,16 @@ static bool arm_smmu_ats_supported(struct arm_smmu_master *master)
 	return dev_is_pci(dev) && pci_ats_supported(to_pci_dev(dev));
 }
 
-static void arm_smmu_enable_ats(struct arm_smmu_master *master,
-				struct arm_smmu_domain *smmu_domain)
+static void arm_smmu_enable_ats(struct arm_smmu_master *master)
 {
 	size_t stu;
 	struct pci_dev *pdev;
 	struct arm_smmu_device *smmu = master->smmu;
 
-	/* Don't enable ATS at the endpoint if it's not enabled in the STE */
-	if (!master->ats_enabled)
-		return;
-
 	/* Smallest Translation Unit: log2 of the smallest supported granule */
 	stu = __ffs(smmu->pgsize_bitmap);
 	pdev = to_pci_dev(master->dev);
 
-	atomic_inc(&smmu_domain->nr_ats_masters);
 	/*
 	 * ATC invalidation of PASID 0 causes the entire ATC to be flushed.
 	 */
@@ -2474,22 +2469,6 @@ static void arm_smmu_enable_ats(struct arm_smmu_master *master,
 		dev_err(master->dev, "Failed to enable ATS (STU %zu)\n", stu);
 }
 
-static void arm_smmu_disable_ats(struct arm_smmu_master *master,
-				 struct arm_smmu_domain *smmu_domain)
-{
-	if (!master->ats_enabled)
-		return;
-
-	pci_disable_ats(to_pci_dev(master->dev));
-	/*
-	 * Ensure ATS is disabled at the endpoint before we issue the
-	 * ATC invalidation via the SMMU.
-	 */
-	wmb();
-	arm_smmu_atc_inv_master(master);
-	atomic_dec(&smmu_domain->nr_ats_masters);
-}
-
 static int arm_smmu_enable_pasid(struct arm_smmu_master *master)
 {
 	int ret;
@@ -2553,39 +2532,147 @@ arm_smmu_find_master_domain(struct arm_smmu_domain *smmu_domain,
 	return NULL;
 }
 
-static void arm_smmu_detach_dev(struct arm_smmu_master *master)
+/*
+ * If the domain uses the smmu_domain->devices list return the arm_smmu_domain
+ * structure, otherwise NULL. These domains track attached devices so they can
+ * issue invalidations.
+ */
+static struct arm_smmu_domain *
+to_smmu_domain_devices(struct iommu_domain *domain)
 {
-	struct iommu_domain *domain = iommu_get_domain_for_dev(master->dev);
+	/* The domain can be NULL only when processing the first attach */
+	if (!domain)
+		return NULL;
+	if (domain->type & __IOMMU_DOMAIN_PAGING)
+		return to_smmu_domain(domain);
+	return NULL;
+}
+
+static void arm_smmu_remove_master_domain(struct arm_smmu_master *master,
+					  struct iommu_domain *domain)
+{
+	struct arm_smmu_domain *smmu_domain = to_smmu_domain_devices(domain);
 	struct arm_smmu_master_domain *master_domain;
-	struct arm_smmu_domain *smmu_domain;
 	unsigned long flags;
 
-	if (!domain || !(domain->type & __IOMMU_DOMAIN_PAGING))
+	if (!smmu_domain)
 		return;
 
-	smmu_domain = to_smmu_domain(domain);
-	arm_smmu_disable_ats(master, smmu_domain);
-
 	spin_lock_irqsave(&smmu_domain->devices_lock, flags);
 	master_domain = arm_smmu_find_master_domain(smmu_domain, master);
 	if (master_domain) {
 		list_del(&master_domain->devices_elm);
 		kfree(master_domain);
+		if (master->ats_enabled)
+			atomic_dec(&smmu_domain->nr_ats_masters);
 	}
 	spin_unlock_irqrestore(&smmu_domain->devices_lock, flags);
+}
 
-	master->ats_enabled = false;
+struct attach_state {
+	bool want_ats;
+	bool disable_ats;
+	struct iommu_domain *old_domain;
+};
+
+/*
+ * Prepare to attach a domain to a master. If disable_ats is not set this will
+ * turn on ATS if supported. smmu_domain can be NULL if the domain being
+ * attached does not have a page table and does not require invalidation
+ * tracking.
+ */
+static int arm_smmu_attach_prepare(struct arm_smmu_master *master,
+				   struct iommu_domain *domain,
+				   struct attach_state *state)
+{
+	struct arm_smmu_domain *smmu_domain =
+		to_smmu_domain_devices(domain);
+	struct arm_smmu_master_domain *master_domain;
+	unsigned long flags;
+
+	/*
+	 * arm_smmu_share_asid() must not see two domains pointing to the same
+	 * arm_smmu_master_domain contents otherwise it could randomly write one
+	 * or the other to the CD.
+	 */
+	lockdep_assert_held(&arm_smmu_asid_lock);
+
+	state->want_ats = !state->disable_ats && arm_smmu_ats_supported(master);
+
+	if (smmu_domain) {
+		master_domain = kzalloc(sizeof(*master_domain), GFP_KERNEL);
+		if (!master_domain)
+			return -ENOMEM;
+		master_domain->master = master;
+
+		/*
+		 * During prepare we want the current smmu_domain and new
+		 * smmu_domain to be in the devices list before we change any
+		 * HW. This ensures that both domains will send ATS
+		 * invalidations to the master until we are done.
+		 *
+		 * It is tempting to make this list only track masters that are
+		 * using ATS, but arm_smmu_share_asid() also uses this to change
+		 * the ASID of a domain, unrelated to ATS.
+		 *
+		 * Notice if we are re-attaching the same domain then the list
+		 * will have two identical entries and commit will remove only
+		 * one of them.
+		 */
+		spin_lock_irqsave(&smmu_domain->devices_lock, flags);
+		if (state->want_ats)
+			atomic_inc(&smmu_domain->nr_ats_masters);
+		list_add(&master_domain->devices_elm, &smmu_domain->devices);
+		spin_unlock_irqrestore(&smmu_domain->devices_lock, flags);
+	}
+
+	if (!state->want_ats && master->ats_enabled) {
+		pci_disable_ats(to_pci_dev(master->dev));
+		/*
+		 * This is probably overkill, but the config write for disabling
+		 * ATS should complete before the STE is configured to generate
+		 * UR to avoid AER noise.
+		 */
+		wmb();
+	}
+	return 0;
+}
+
+/*
+ * Commit is done after the STE/CD are configured with the EATS setting. It
+ * completes synchronizing the PCI device's ATC and finishes manipulating the
+ * smmu_domain->devices list.
+ */
+static void arm_smmu_attach_commit(struct arm_smmu_master *master,
+				   struct attach_state *state)
+{
+	lockdep_assert_held(&arm_smmu_asid_lock);
+
+	if (state->want_ats && !master->ats_enabled) {
+		arm_smmu_enable_ats(master);
+	} else if (master->ats_enabled) {
+		/*
+		 * The translation has changed, flush the ATC. At this point the
+		 * SMMU is translating for the new domain and both the old&new
+		 * domain will issue invalidations.
+		 */
+		arm_smmu_atc_inv_master(master);
+	}
+	master->ats_enabled = state->want_ats;
+
+	arm_smmu_remove_master_domain(master, state->old_domain);
 }
 
 static int arm_smmu_attach_dev(struct iommu_domain *domain, struct device *dev)
 {
 	int ret = 0;
-	unsigned long flags;
 	struct arm_smmu_ste target;
 	struct iommu_fwspec *fwspec = dev_iommu_fwspec_get(dev);
 	struct arm_smmu_device *smmu;
 	struct arm_smmu_domain *smmu_domain = to_smmu_domain(domain);
-	struct arm_smmu_master_domain *master_domain;
+	struct attach_state state = {
+		.old_domain = iommu_get_domain_for_dev(dev),
+	};
 	struct arm_smmu_master *master;
 	struct arm_smmu_cd *cdptr;
 
@@ -2622,11 +2709,6 @@ static int arm_smmu_attach_dev(struct iommu_domain *domain, struct device *dev)
 			return -ENOMEM;
 	}
 
-	master_domain = kzalloc(sizeof(*master_domain), GFP_KERNEL);
-	if (!master_domain)
-		return -ENOMEM;
-	master_domain->master = master;
-
 	/*
 	 * Prevent arm_smmu_share_asid() from trying to change the ASID
 	 * of either the old or new domain while we are working on it.
@@ -2635,13 +2717,11 @@ static int arm_smmu_attach_dev(struct iommu_domain *domain, struct device *dev)
 	 */
 	mutex_lock(&arm_smmu_asid_lock);
 
-	arm_smmu_detach_dev(master);
-
-	master->ats_enabled = arm_smmu_ats_supported(master);
-
-	spin_lock_irqsave(&smmu_domain->devices_lock, flags);
-	list_add(&master_domain->devices_elm, &smmu_domain->devices);
-	spin_unlock_irqrestore(&smmu_domain->devices_lock, flags);
+	ret = arm_smmu_attach_prepare(master, domain, &state);
+	if (ret) {
+		mutex_unlock(&arm_smmu_asid_lock);
+		return ret;
+	}
 
 	switch (smmu_domain->stage) {
 	case ARM_SMMU_DOMAIN_S1: {
@@ -2650,18 +2730,19 @@ static int arm_smmu_attach_dev(struct iommu_domain *domain, struct device *dev)
 		arm_smmu_make_s1_cd(&target_cd, master, smmu_domain);
 		arm_smmu_write_cd_entry(master, IOMMU_NO_PASID, cdptr,
 					&target_cd);
-		arm_smmu_make_cdtable_ste(&target, master);
+		arm_smmu_make_cdtable_ste(&target, master, state.want_ats);
 		arm_smmu_install_ste_for_dev(master, &target);
 		break;
 	}
 	case ARM_SMMU_DOMAIN_S2:
-		arm_smmu_make_s2_domain_ste(&target, master, smmu_domain);
+		arm_smmu_make_s2_domain_ste(&target, master, smmu_domain,
+					    state.want_ats);
 		arm_smmu_install_ste_for_dev(master, &target);
 		arm_smmu_clear_cd(master, IOMMU_NO_PASID);
 		break;
 	}
 
-	arm_smmu_enable_ats(master, smmu_domain);
+	arm_smmu_attach_commit(master, &state);
 	mutex_unlock(&arm_smmu_asid_lock);
 	return 0;
 }
@@ -2690,10 +2771,13 @@ void arm_smmu_remove_pasid(struct arm_smmu_master *master,
 	arm_smmu_clear_cd(master, pasid);
 }
 
-static int arm_smmu_attach_dev_ste(struct device *dev,
-				   struct arm_smmu_ste *ste)
+static int arm_smmu_attach_dev_ste(struct iommu_domain *domain,
+				   struct device *dev, struct arm_smmu_ste *ste)
 {
 	struct arm_smmu_master *master = dev_iommu_priv_get(dev);
+	struct attach_state state = {
+		.old_domain = iommu_get_domain_for_dev(dev),
+	};
 
 	if (arm_smmu_master_sva_enabled(master))
 		return -EBUSY;
@@ -2711,9 +2795,10 @@ static int arm_smmu_attach_dev_ste(struct device *dev,
 	 * the stream (STE.EATS == 0b00), causing F_BAD_ATS_TREQ and
 	 * F_TRANSL_FORBIDDEN events (IHI0070Ea 5.2 Stream Table Entry).
 	 */
-	arm_smmu_detach_dev(master);
-
+	state.disable_ats = true;
+	arm_smmu_attach_prepare(master, domain, &state);
 	arm_smmu_install_ste_for_dev(master, ste);
+	arm_smmu_attach_commit(master, &state);
 	mutex_unlock(&arm_smmu_asid_lock);
 
 	/*
@@ -2732,7 +2817,7 @@ static int arm_smmu_attach_dev_identity(struct iommu_domain *domain,
 	struct arm_smmu_master *master = dev_iommu_priv_get(dev);
 
 	arm_smmu_make_bypass_ste(master->smmu, &ste);
-	return arm_smmu_attach_dev_ste(dev, &ste);
+	return arm_smmu_attach_dev_ste(domain, dev, &ste);
 }
 
 static const struct iommu_domain_ops arm_smmu_identity_ops = {
@@ -2750,7 +2835,7 @@ static int arm_smmu_attach_dev_blocked(struct iommu_domain *domain,
 	struct arm_smmu_ste ste;
 
 	arm_smmu_make_abort_ste(&ste);
-	return arm_smmu_attach_dev_ste(dev, &ste);
+	return arm_smmu_attach_dev_ste(domain, dev, &ste);
 }
 
 static const struct iommu_domain_ops arm_smmu_blocked_ops = {
diff --git a/drivers/iommu/arm/arm-smmu-v3/arm-smmu-v3.h b/drivers/iommu/arm/arm-smmu-v3/arm-smmu-v3.h
index 125b52ea5ad71c..ce01d3fc768ad6 100644
--- a/drivers/iommu/arm/arm-smmu-v3/arm-smmu-v3.h
+++ b/drivers/iommu/arm/arm-smmu-v3/arm-smmu-v3.h
@@ -758,10 +758,12 @@ void arm_smmu_make_abort_ste(struct arm_smmu_ste *target);
 void arm_smmu_make_bypass_ste(struct arm_smmu_device *smmu,
 			      struct arm_smmu_ste *target);
 void arm_smmu_make_cdtable_ste(struct arm_smmu_ste *target,
-			       struct arm_smmu_master *master);
+			       struct arm_smmu_master *master,
+			       bool ats_enabled);
 void arm_smmu_make_s2_domain_ste(struct arm_smmu_ste *target,
 				 struct arm_smmu_master *master,
-				 struct arm_smmu_domain *smmu_domain);
+				 struct arm_smmu_domain *smmu_domain,
+				 bool ats_enabled);
 void arm_smmu_make_sva_cd(struct arm_smmu_cd *target,
 			  struct arm_smmu_master *master, struct mm_struct *mm,
 			  u16 asid);
