$ sudo apt-get install xinetd tftpd tftp

service tftp
{
protocol        = udp
port            = 69
socket_type     = dgram
wait            = yes
user            = nobody
server          = /usr/sbin/in.tftpd
server_args     = /tftpboot
disable         = no
}

$ sudo mkdir /tftpboot
$ sudo chmod -R 777 /tftpboot
$ sudo chown -R nobody /tftpboot

$ sudo /etc/init.d/xinetd restart

$ cp ipcam /tftpboot
$ tftp 192.168.1.102
tftp> get ipcam
Received 228796 bytes in 0.0 seconds

基于busybox的tftp命令与原生命令不同，这里用 -g -r 参数下载
# tftp -g -r ipcam 192.168.1.102