Flash your WRT54G or WRT54GS v5 series (v5, v5.1, v6)
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RECENT UPDATE: Flashing without hardware modification is now possible!
Normal flash procedure (JTAG-less)
See here Vxworkskiller for instructions on flashing your WRT54G G/GS v5-v6 without hardware modifications.
Enable 16 MB RAM
ATTENTION: WRT54GS ONLY!!!!! Doing this in your WRT54G will BRICK your router
See Enable_16MB_RAM_on_WRT54GS_v5