Floppy drives have no firmware. This is quite clear if you look at the pinout of say the ST's floppy drive connector (which is very similar to the PC standard - I once hooked a PC 5 1/4 drive up to an ST).
I know that I wrote some very dodgy interrupt disk management code on ST's that were highly likely to damage the floppy disk, so I'm not sure if it really is impossible. I believe that initiating certain operations then toggling the drive select line at megahertz rates was one way to do it (and supposedly how some of the ST disk copiers managed to copy some protected disk formats).
I know that I wrote some very dodgy interrupt disk management code on ST's that were highly likely to damage the floppy disk, so I'm not sure if it really is impossible. I believe that initiating certain operations then toggling the drive select line at megahertz rates was one way to do it (and supposedly how some of the ST disk copiers managed to copy some protected disk formats).