Botting FreeBSD from GRUB

[olig]

I have Windows XP and Linux already installed on my Laptop and want to 
also install FreeBSD (by the way I'm new to FreeBSD but quite 
experimented with Linux).  I successfully installed FreeBSD on a primary 
partition (slice) with most of the default options.  However I did 
choose to leave the MBR untouched because I want to boot FreeBSD with 
GRUB.  I can boot Linux and Windows without problems from GRUB, but 
can't boot FreeBSD.

Here is my partition layout (from Linux's fdisk)
# fdisk -l /dev/hda

Disk /dev/hda: 30.0 GB, 30005821440 bytes
255 heads, 63 sectors/track, 3648 cylinders
Units = cylinders of 16065 * 512 = 8225280 bytes

    Device Boot      Start         End      Blocks   Id  System
/dev/hda1               1        2015    16185456    7  HPFS/NTFS
/dev/hda2            2373        3648    10249470    f  W95 Ext'd (LBA)
Partition 2 does not end on cylinder boundary.
/dev/hda3            2016        2372     2867602+  a5  FreeBSD
/dev/hda5            2373        2435      506016   82  Linux swap
/dev/hda6            2436        2467      257008+  83  Linux
/dev/hda7            2468        3187     5783368+  83  Linux
/dev/hda8            3188        3353     1333363+  83  Linux
/dev/hda9            3354        3647     2361523+  83  Linux

Partition table entries are not in disk order

And my Grub configuration concerning FreeBSD

# For booting FreeBSD
title  FreeBSD 5.2
root   (hd0,2,a)
kernel /boot/loader


When I try to boot FreeBSD I get the following error from grub:
filesystem type unknown, partition type 0xa5
error 17 cannot mount selected partition

Also I can't mount the FreeBSD partition under Linux.
# mount -t ufs /dev/hda3 /mnt/freebsd/
mount: wrong fs type, bad option, bad superblock on /dev/hda3,
        or too many mounted file systems

But I can succesfully mount it under FreeBSD booting with the fixit floppy.

Is there a way to install FreeBSD's bootloader on a floppy to boot my 
installed system?

I am quite mixed up with FreeBSD slices and sub-partitions which are not 
the same as DOS or Linux partitions.  Also after installing FreeBSD, 
Linux's fdisk reported problems about partitions not ending on cylinder 
boudaries.

Olivier