Can anyone point me to something which describes a walkthrough of exactly how data is read from a HD, covering the OS's interaction with the SATA controller, and then the HD controller?

E.g. AFAIK the HD controller, sitting on the SATA bus, can't actually do DMA by itself. But then what does it do when it gets a "READ DMA" command? Does it just send the response back to the SATA controller and then the SATA controller DMAs it to the location that the OS/driver told it to? An article walking through the steps at this sort of low level would be very helpful.

Thank you!