heimdall

$ git clone git://github.com/Benjamin-Dobell/Heimdall.git
$ mkdir -p Heimdall/build
$ cd Heimdall/build
$ cmake -DCMAKE_BUILD_TYPE=Release ..
$ make
$ sudo cp bin/* /usr/local/bin

https://wiki.cyanogenmod.org/w/Install_and_compile_Heimdall