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If you are lucky and have an (external) CD drive you can burn one of the ISO images provided on the Samsung SSD page. However as I bought the SSD (a 840 non-pro) for my netbook and had already installed the SSD and didn't want to remove it again I didn't have this option.
After some trial and error I succeeded by extracting a part of the ISO image and putting it on the FreeDOS stick that I created using UNetbootin. Neither using the executable for Windows on FreeDOS nor creating a USB Stick using UNetbootin and the ISO image worked for me.
I read that under Windows you can create a bootable USB stick using Magican (can be found on the same download page). I didn't know this before and haven't tried it but if you have a Windows somewhere this might be a safer option than what I suggest here.
For those of you who don't want to repeat the trial and error, here is what worked for me. Updating the firmware is a dangerous procedure, your SSD could be damaged irreparably if the update fails. If you follow these instructions you do that at your own risk.
I have a Samsung 840 (non-pro) SSD but I could imagine that this could work for other Samsung SSDs, too.
You need the samsung directory from the isolinux/btdsk.img image inside the ISO, copy it on the USB stick. Once you have booted the stick, change the directory to C:\samsung\DSRD\ directory and execute DSRDGUIO.exe.
/tmp/Samsung_SSD_840_DXT07B0Q.iso/mnt/test for this purpose: mount -o loop /tmp/Samsung_SSD_840_DXT07B0Q.iso /mnt/test
/mnt/test/isolinux/btdsk.img to /tmp.umount /mnt/testbtdsk.img: mount -o loop /tmp/btdsk.img /mnt/test/mnt/test/samsung on the USB stickbtdsk.img: umount /mnt/testC:\ cd samsung\dsrd\ DSRDGUIO.exe