@cm68 As part of fixing code issues with rasdump (lots of SonarQube warnings, and half of the rasdump code is redundant/duplicated) I analyzed the rasdump code and I think that it provides all the information you need to know. Essentially, the bus has to be initialized with BUS::mode_e::INITIATOR and then you can send commands just like rasdump does, by setting/checking the bus signals.
A quick test with a streamer reveals that sending an INQUIRY command works at least for some devices:

>sudo ./bin/fullspec/rasdump -i 3 -b 7 -f dumpfile
RaSCSI hard disk dump utility version 22.10.1 (Nov  6 2022, 11:01:41)
TARGET ID               : 3
BOARD ID                : 7
Vendor                  : HP      
Product                 : HP35470A        
Revison                 : 1109
READ CAPACITY ERROR -3

For one of my hard disk drives rasdump fails, but I don't know why. (Might be a bus phase issue, see below.) But anyway, as far as documentation is concerned, SCSI bus signals are described in the SCSI specification, i.e. they are not rascsi-specific. Saying that I would like to close this ticket, because the rasdump code and the SCSI specification should provide all required information.
Whether dumping/restoring drives with rasdump actually works or not is probably a different question. IMO it expects a particular bus phase order on the target side, which is wrong. The target controls the bus, not the initiator. I expect rasdump to fail when the target requests a different phase than expected by rasdump, see #970.

Uh oh!

No usable documentation on initiator mode #131

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