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This project is based off of Sam Rape. The final product is a bootable floppy which copies the sam file, compresses it and puts it on a disk. A detailed description can be found at datastronghold.com/archive/t10429.html
BSD SAM-BA is a free tool under ISC licence.
Like the xp SAM Boot Assistant (SAM-BA.exe) this software provides a means of easily programming different AT91 devices.
Communicating with the target device may be done through an RS232 or a USB link.