How to send SCSI commands to the Usb mass storage device?

 I need your help. Now I need to send SCSI commands to the Usb mass storage device, I referred to https://developer.apple.com/library/archive/documentation/DeviceDrivers/Conceptual/WorkingWithSAM/WWS_SAMDevInt/WWS_SAM_DevInt.html url, but it didn't work. I can't get scsitaskdeviceinterface       I think my device type is $00, do we need to develop and provide a custom kernel driver? If needn't, why can't I access the device through the scsitaskdevice interface?          I am using macOS Big Sur 11.2.3 and Xcode 12.5.