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BDwrap is a template for writing stackable block device drivers on Linux. It's clean interface hides the complexity of device handling, asynchronous calls, buffer cache interaction, etc. It is a great tool to develop stacked block drivers quickly.
There are popular tape device ArVid which based on ordinary (PAL/SECAM) VHS & ISA board with PLM which often used in Russia and xUSSR. ArVid board are controled by VHS behind integrated multisystem IRC node. I've coded raw driver for this device. Driver