I've disassembled the Univation 2.11 DOS driver. The card is a SCSI card that talks to one device. I have halfway worked out the protocol for the different bus phases. Limitations in 16-bit data structures limit the size of the supported disk to 32MB.
Is there a good example driver to look at for a SCSI device? So far, I've only found READ6, WRITE6 and REQUEST SENSE CDBs that are sent to the device. It doesn't send INQUIRY which implies it might be SASI instead of SCSI-1, but the delta between the two is small.