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Merge of hex or binary images

I have two seperate hex-files that I would like to merge into a single image.
Image A is a bootimage and image B is the application image.
Image A starts at 0x00000000, whereas image B starts with an offest of 0x00004000.
It is possible to load image B into the flash, and let the system start in image B, meaning that both images work.

The big question is now: Can the two images be merged to a single hex file and how?

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