OS:CentOS release 5.2 (Final)

Name  : atftp
Arch  : i386
Version: 0.7
Release: 6
Size  : 83 k
Repo  : installed
Summary: Advanced Trivial File Transfer Protocol (TFTP) client
atftp is an advanced client implementation of the TFTP
protocol that implements RFCs 1350, 2090, 2347, 2348, and 2349.
The server is multi-threaded and the client presents a friendly
interface using libreadline. The current server implementation
lacks IPv6 support.

yum install atftp

mkdir /tftpboot