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Most ATAPI devices use a SCSI command set through the PACKET command.
You can obtain draft standards from http://www.t10.org.
http://t10.org/scsi-3.htm
is its index.
Scsi 1 is oldest available on the web, then Scsi 2, beyond that the
text grew too large to read easily.
http://www.bswd.com/cornucop.htm
is a third-party index that also cross-references the somewhat
independent (and no more than slightly incompatible) Sff
redefinitions of Scsi. Those redefinitions hold the advantage of
documenting the common error codes together with the requests that
provoke those errors.