[SCSI] consolidate command allocation in a single place
Since the way we allocate commands with a separate sense buffer is
getting complicated, we should isolate setup and teardown to a single
routine so that if it gets even more complex, there's only one place
in the code that needs to be altered.
Signed-off-by: NJames Bottomley <James.Bottomley@HansenPartnership.com>
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