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You can find the binaries here.
zcat rsync-3.0.6-arm-softfloat-linux-gnueabi.gz > rsync
rsync to your phone, make sure it's in the PATH and chmod 755 rsync. I have put mind to QuickSSH's homedir (/data/data/com.teslacoilsw.quicksshd/home).Here are a few examples that can be scripted.
Initiate a backup from your phone:
rsync -e "ssh -p <port>" -vrt <local-source> <user>@<server>:/<path> e.g. rsync -e "ssh -p 443" -vrt /mnt/sdcard/astrid me@<my-ip>:/home/me/temp
Initiate a backup from your server:
rsync rsync -vrt -e "ssh -p <port>" <user>@<phone>:/<path> <local-dest> e.g. rsync -vrt -e "ssh -p 2222" <user>@android:/mnt/sdcard/astrid /home/me/temp
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