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There are currently two different build systems, really build scripts, that allow you to put FreeBSD onto a variety of embedded type boards. For now I have only linked them from here, but in future we will have built in support for building an embedded target system. Most of the documentation here is taken directly from the project pages, which are linked below.
NanoBSD is designed to put a possibly reduced FreeBSD system on a Compact Flash card (or other mass storage of your choice) in a way which is suitable for use in appliance like applications.
TinyBSD is a set of tools made up of shell scripts designed to allow easy development of Embedded Systems based on FreeBSD RELENG_5 and RELENG_6.
m0n0wall is a project aimed at creating a complete, embedded firewall software package that, when used together with an embedded PC, provides all the important features of commercial firewall boxes (including ease of use) at a fraction of the price (free software). m0n0wall is based on a bare-bones version of FreeBSD, along with a web server, PHP and a few other utilities. The entire system configuration is stored in one single XML text file to keep things transparent.