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Chapter 2  Introduction  The Antares 5070 is a high performance,
versatile, yet relatively inexpensive host based RAID
controller. Its embedded operating system (K9 kernel) is
modelled on the Plan 9 operating system whose design is
discussed in several papers from AT&T (see the "Further Reading"
section). K9 is a kernel targeted at embedded controllers of
small to medium complexity (e.g. ISDN-ethernet bridges, RAID
controllers, etc). It supports multiple lightweight processes
(i.e. without memory management) on a single CPU with a non-
preemptive scheduler. Device driver architecture is based on
Plan 9 (and Unix SVR4) streams. Concurrency control mechanisms
include semaphores and signals. The 5070 has three single ended
ultra 1 SCSI channels and two onboard serial interfaces one of
which provides command line access via a connected serial
terminal or modem. The other is used to upgrade the firmware.
The c