Okay, here's the procedure I'm about to attempt. Please tell me if
there's anything wrong with it.

1. Create a primary FAT partition and filesystem on my hard disk.
2. Get the firmware file from 
http://www.toshibaer.com/firmware/download.php?TS-L632D/TS-L632D_SC03.zip 
(unzip it, of course) and the flashing program from 
http://www.samsungodd.com/KorLib/File/sfdndos.exe and put them in the FAT 
filesystem.
3. Get the boot CD image from http://pioneerdvd.rpc1.org/boot_iso.zip, unzip 
it, and burn it on a CD-RW.
4. Boot from the CD-RW.
5. Find the FAT partition I made, navigate to it, and run "sfdndos 
TS-L632D_SC03.BIN PS -n" (the PS is for Primary Slave)

-- 
Hard disk I/O randomly freezes when hald is running and optical drive is empty
https://bugs.launchpad.net/bugs/84603
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