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To my knowledge, Catweasel drivers were included in the kernel some time in 1998 or 1999. This is not specifically "floppy", but it's a plain block driver, which can be combined with just about any file system that Linux supports - including FAT and Amiga OFS/FFS. See the Wiki page for the Catweasel - it contains links to Linux stuff as well.
No, there never were catweasel drivers in the mainline kernel.
I stand corrected - it was probably just the release of the drivers in 1998 that generated lots of sales that were really surprising to me until a customer wrote to me that he only learned about the Catweasel because he saw that Linux drivers were available.