I've been working on a contract for Symbio Technologies for the last month. They are makers of a few thin client terminals.
My work for Symbio involves talking to a SATA hard disk using ATA command set. What makes this a bit more interesting is that /dev/hda is the way of the past. New devices are covered by libata drives which fit into the SCSI subsystem.
So, the challenge for me was how to send raw ATA messages using the SCSI layer to the SATA drive. Besides the fact that the interface is sparsely documented, it was pretty easy.
Specs
Let's start off with ATA commands set. You will need to get a copy of the ATA/ATAPI-7 spec from the T13 committee (for some reason these linksdon't work anymore). Any command you send to the device will look like what's outlined in this document.
As mentioned above, the new way of interfacing with the ATA devices is via SATA. There is even a documented translation method called SCSI ATA Translation (or SAT). This is maintained by the T10 committee, and you want to download the SAT2 document.
WARNING
Before you proceed... I have no idea what I am talking about. The stuff below may make your disk explode.
IDE subsystem
First let's review the history.
Once upon a time there was IDE, and we had a whole slew of IDE devices under CONFIG_IDE in the kernel .config file.
To communicate with these devices you would use one of the IOCTL's:
HDIO_DRIVE_TASK - can issue commands that have LBA commands, cannot read or write data, HDIO_DRIVE_CMD - can issue commands that read blocks of data, cannot send commands with LBA parameters, and HDIO_DRIVE_TASKFILE - can issue pretty much anything, but is more complicated to use.Each of these IOCTLs passes down a single buffer that is used for control, input and output data.
As you can see the first two are useless if you want to do any real communication. They do seem to be helpful for some SMART commands and for some other STATUS commands. For anything else you need to use HDIO_DRIVE_TASKFILE.
Here is another example which gets the SMART STATUS from the drive.
I am using this because SMART STATUS is a no data command, so we can use the HDIO_DRIVE_TASK ioctl.
This may make your eyes bleed, but truly this is how you use this interface.
int fd, rc;uint8_t buf[7];fd = open ("/dev/hda", O_RDWR);buf[0] = WIN_SMART; // command idbuf[1] = SMART_STATUS; // feature idbuf[2] = 1; // number of sectorsbuf[3] = 0x00; // LBA lowbuf[4] = 0x4F; // LBA midbuf[5] = 0xC2; // LBA highbuf[6] = 0; // device selectrc = ioctl (fd, HDIO_DRIVE_TASK, buf);printf ("status %02x\n", buf[0]);printf ("error %02x\n", buf[1]);printf ("n sect %02x\n", buf[2]);printf ("LBA L %02x\n", buf[3]);printf ("LBA M %02x\n", buf[4]);printf ("LBA H %02x\n", buf[5]);printf ("select %02x\n", buf[6]);Thing to note is that the descriptor size is 7 bytes, and there is no data transfered in this command. If you give the wrong command or feature you may cause a SATA reset and not be able to talk to your drive anymore.
It's pretty awful of an interface, and it gets a bit worse...
Here is an example of getting the IDENTIFY message from the drive:
Here I am using an IDENTIFY request as it returns 1 block of data from the device.
int fd, rc;uint8_t buf[4 + 512];fd = open ("/dev/hda", O_RDWR);buf[0] = WIN_IDENTIFY; // command idbuf[1] = 1; // number of sectorsbuf[2] = 0; // feature idbuf[3] = 1; // number of sectorsrc = ioctl (fd, HDIO_DRIVE_CMD, buf);printf ("status %02x\n", buf[0]);printf ("error %02x\n", buf[1]);printf ("n sect %02x\n", buf[2]);In this interface the descriptor is 4 bytes, and it's followed by a multiple of 512 blocks for the data transfer. You can only read with this interface, and you can cause SATA resets if you're not careful.
But, wait... it gets worse.
Here is an example of getting SMART log records...
Here I am using SMART READ VALUES command which returns one block of data...
int fd, rc;uint8_t buf[4 + 512];fd = open ("/dev/hda", O_RDWR);buf[0] = WIN_SMART; // command idbuf[1] = 0; // LBA lowbuf[2] = SMART_READ_VALUES; // feature idbuf[3] = 1; // number of sectorsrc = ioctl (fd, HDIO_DRIVE_CMD, buf);printf ("status %02x\n", buf[0]);printf ("error %02x\n", buf[1]);printf ("n sect %02x\n", buf[2]);I said it gets worse. It's worse because the encoding of the descriptor depends on the command id. And a lot of this is not documented, so you have to read the code.
Now onto the new interface...
SCSI subsystem
libata is the name of a set of drivers and some glue code that allows the SCSI layer to talk to ATA devices. From user land, for quite some time SATA drives have been showing up as /dev/sda (a SCSI disk device). More recently this was extended to PATA devices, and some old drivers were ported to libata.
libata does support HDIO_DRIVE_CMD and HDIO_DRIVE_TASK for backwards compatibility -- mainly for hdparm, hdtemp, smartmontools, etc. However it does not support HDIO_DRIVE_TASKFILE, and it is suggested that people use SG_IO instead.
The SCSI ioctl SG_IO allows the same features as the IDE TASKFILE, but sends the commands through the SCSI subsystem. Since the SCSI and ATA commands are nothing alike libata maintains translation code to do this for common commands, as mandated by the SAT2 T10 committee document referenced above.
If a command does not fit into the SAT2 translation you can wrap the ATA command with an SG_IO header and pass it using ATA16 pass-through commands.
I am not going to talk about the easy case of using SCSI ioctls, for which there are SAT mappings, to talk to the ATA device... that's easy and pretty well documented. For examples see the source code for the sginfo tool from sg3-utils package.
I will however show how to send the three different types of commands:
First, an example of how to issue a no data command:
int fd, rc;struct sg_io_hdr sg_io;uint8_t cdb[16];uint8_t sense[32];// under most circumstances /dev/sda maps to /dev/sg0// only SCSI generic interfaces can use SG_IO ioctl// see output of: sginfo -lfd = open ("/dev/sg0", O_RDWR);memset (&sg_io, 0, sizeof(sg_io));memset (&cdb, 0, sizeof(cdb));memset (&sense, 0, sizeof(sense));sg_io.interface_id = 'S';sg_io.cmdp = cdb;sg_io.cmd_len = sizeof(cdb);sg_io.dxferp = NULL;sg_io.dxfer_len = 0;sg_io.dxfer_direction = SG_DXFER_NONE;sg_io.sbp = sense;sg_io.mx_sb_len = sizeof(sense);sg_io.timeout = 5000; // 5 secondscdb[0] = 0x85; // pass-through ATA16 command (no translation)cdb[1] = (3 << 1); // no datacdb[2] = 0x20; // no datacdb[4] = feature_id; // ATA feature IDcdb[6] = 0; // number of sectorscdb[7] = lba_low >> 8;cdb[8] = lba_low;cdb[9] = lba_mid >> 8;cdb[10] = lba_mid;cdb[11] = lba_high >> 8;cdb[12] = lba_high;cdb[14] = command_id; // ATA command IDrc = ioctl (fd, SG_IO, &sg_io);// check expected magicif (sense[0] != 0x72 || sense[7] != 0x0e || sense[8] != 0x09 || sense[9] != 0x0c || sense[10] != 0x00) error;printf ("error = %02x", sense[11]); // 0x00 means successprintf ("status = %02x", sense[21]); // 0x50 means successNext, an example of how to issue a data-in (or from device) command:
int fd, rc;struct sg_io_hdr sg_io;uint8_t cdb[16];uint8_t sense[32];fd = open ("/dev/sg0", O_RDWR);memset (&sg_io, 0, sizeof(sg_io));memset (&cdb, 0, sizeof(cdb));memset (&sense, 0, sizeof(sense));sg_io.interface_id = 'S';sg_io.cmdp = cdb;sg_io.cmd_len = sizeof(cdb);sg_io.dxferp = data_in_buffer;sg_io.dxfer_len = data_in_length; // multiple of 512sg_io.dxfer_direction = SG_DXFER_FROM_DEV;sg_io.sbp = sense;sg_io.mx_sb_len = sizeof(sense);sg_io.timeout = 5000; // 5 secondscdb[0] = 0x85; // pass-through ATA16 command (no translation)cdb[1] = (4 << 1); // data-incdb[2] = 0x2e; // data-incdb[4] = feature_id; // ATA feature IDcdb[6] = 1; // number of sectorscdb[7] = lba_low >> 8;cdb[8] = lba_low;cdb[9] = lba_mid >> 8;cdb[10] = lba_mid;cdb[11] = lba_high >> 8;cdb[12] = lba_high;cdb[14] = command_id; // ATA command IDrc = ioctl (fd, SG_IO, &sg_io);// check expected magicif (sense[0] != 0x72 || sense[7] != 0x0e || sense[8] != 0x09 || sense[9] != 0x0c || sense[10] != 0x00) error;printf ("error = %02x", sense[11]); // 0x00 means successprintf ("status = %02x", sense[21]); // 0x50 means successAnd last, an example of how to issue a data-out command:
int fd, rc;struct sg_io_hdr sg_io;uint8_t cdb[16];uint8_t sense[32];fd = open ("/dev/sg0", O_RDWR);memset (&sg_io, 0, sizeof(sg_io));memset (&cdb, 0, sizeof(cdb));memset (&sense, 0, sizeof(sense));sg_io.interface_id = 'S';sg_io.cmdp = cdb;sg_io.cmd_len = sizeof(cdb);sg_io.dxferp = data_out_buffer;sg_io.dxfer_len = data_out_length; // multiple of 512sg_io.dxfer_direction = SG_DXFER_TO_DEV;sg_io.sbp = sense;sg_io.mx_sb_len = sizeof(sense);sg_io.timeout = 5000; // 5 secondscdb[0] = 0x85; // pass-through ATA16 command (no translation)cdb[1] = (5 << 1); // data-outcdb[2] = 0x26; // data-outcdb[4] = feature_id; // ATA feature IDcdb[6] = 1; // number of sectorscdb[7] = lba_low >> 8;cdb[8] = lba_low;cdb[9] = lba_mid >> 8;cdb[10] = lba_mid;cdb[11] = lba_high >> 8;cdb[12] = lba_high;cdb[14] = command_id; // ATA command IDrc = ioctl (fd, SG_IO, &sg_io);// check expected magicif (sense[0] != 0x72 || sense[7] != 0x0e || sense[8] != 0x09 || sense[9] != 0x0c || sense[10] != 0x00) error;printf ("error = %02x", sense[11]); // 0x00 means successprintf ("status = %02x", sense[21]); // 0x50 means successHope that some of this was useful. Please let me know if I missed something.
