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HDB-DOS
HDB-DOS is a reimplementation of the CoCo's disk basic that supports hard drives. It supports the Glenside IDE Controller, Cloud-9 SuperIDE Controller, as well as the Ken-Ton, TC^3, and Disto SCSI controllers. It also supports DriveWire.
Originally (in 1986) it was named RGB-DOS and was developed by Ken-Ton for their SCSI controller. In 2002, Boisy Pitre acquired the rights and renamed it HDB-DOS. It is now open source.
Hard drives are split into up to 256 virtual floppies. HDB-DOS attempts to maintain compatibility with stock Disk Basic programs as much as possible, making design choices such as retaining the standard 35 sector format for its virtual floppies, etc.
Its source can be found at: https://github.com/nitros9project/toolshed/tree/main/hdbdos. At time of writing the latest version is 1.5.
The manual for 1.1 can be found here: http://www.cloud9tech.com/Cloud-9/Support/HDB-DOS%20User%20Manual.pdf.