Is there any way to handle scsi command in usb mass storage protocol in userspace

I was working on an embedded linux device(which has kernel version 3.10.14). My target is to communicate with this device by a windows PC via SCSI command (so that it will not request any driver on Windows PC). And in the kernel source, I found the scsi command was directly processed by the kernel driver (in function do_scsi_command in driver/usb/gadget/f_mass_storage.c), but this doesn't meet my need, I need to process the scsi command in userspace, so that I can control other H/W modules like camera, uart on this device, read/write files, etc. Is there any way to do this?

This perhaps: https://www.systutorials.com/docs/linux/man/8-sg_raw/.

Originally Posted by berndbausch This perhaps: https://www.systutorials.com/docs/linux/man/8-sg_raw/.

Thanks a lot. But I think this doesn't meet my requirement. My scenario is: my embeded device was recognized as an USB mass storage device by Windows PC, So I can send scsi command by calling DeviceIoControl API in my windows application. but the scsi command was processed by kernel driver on my embeded device, I want to find a way which can pass through scsi command to userspace