OpenWRT
OpenWRT is an open source linux distribution for routers and other networking equipment. Firmware images are avilable from the official website but building from source is preferred.
Flashing
Save your router config, flash the new firmware and hold your breath.
If it all goes horribly wrong, refer to the debricking and recovery mode webpages you saved earlier. Generally recovery involves pressing the physical WPS button on your router when it boots, telnetting into it, wgetting a working firmware image from your pc, and using mtd to reflash. TFTD is another option, but much more finicky as you need split second timing to get it to respond.
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