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My two primary CP/M machines are the RC2014 mini and the SC131 pocket
Z80. Hopefully the Kaypro will join them soon.
The freeside CP/M software micro-archive
The best way to transfer files is with XM.COM, the XMODEM transfer
program that comes with RomWBW. Minicom comes with builtin support and
I found it to work more reliably than my attempts at using picocom.
On the CP/M system:
XM R E:FILE.DAT
Then, in Minicom, ^A S will let you send a file with XMODEM.
If you're using the distribution that comes with the RC2014, you're
stuck with using Grant Searle's packager. It works, and you'll find
utilities for transferring files both in the RC2014 repo and a Python
script floating around. The C program will just dump to standard out,
requiring that you copy-paste into the terminal window; the Python
version will actually transfer over serial. I had to make a few small
tweaks to get this to work reliably, namely adding a delay in between
file transfers and adding a 0x13 0x10 (carriage return + newline) at
the end of each file.
Python binary to CP/M transfer program