I grabbed a copy of this project: 
https://github.com/polymeris/triggercord(tethered shooting for Pentax K-series 
DSLR cameras, which use SCSI generic 
commands for camera control).

It uses #include <scsi/sg.h>
I guess that's been in the SDK since Android 3.1, which introduced USB host 
services.

The program only works on a rooted device, because it executes "sudo chmod 
666 /dev/sg0", and without that chmod you can't use the SCSI generic driver.

I was wondering, though, whether the standard Android USB host API (
http://developer.android.com/guide/topics/connectivity/usb/host.html) can 
be made to send and receive SCSI commands without requiring a rooted 
device. I don't know enough about how the protocol layers stack up to 
answer that question, never having worked with USB before, but if I had 
spare time, I'd be researching it. After a quick read of the documentation 
for UsbDeviceConnection.bulkTransfer, I am not yet convinced that it 
wouldn't work.

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