Are all SATA drives capable of using AHCI?

I wanted to test whether my WD2500KS on Port 1 had better performance using IDE or AHCI. I had installed Windows XP with the drive configured as IDE. When I changed the configuration to AHCI I got as far as the boot screen with this message:

Auto-Detecting AHCI Port 1..

I had to disconnect all drives to get back in the BIOS and change the configuration back to IDE.