How to flash at91sam7s256

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Hello!
I'm completely new to arm7 development. I have installed yagarto and 
compiled my first example for the at91sam7s256. I think it worked, as
there is a hex file.
But now I have no idea how to flash the controller. Is there a tool
comparable to AVRDude for the AVRs?
My board is a AT91SAM7S-EK, I have no additional hardware except an
usb cable ;-)

Greetings
Frank

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