The Blackfin processor supports a UART boot mode, and if you're on a Linux system but don't have JTAG, you can boot the SRV-1 firmware via the Matchport using this boot mode.   Thanks to Kevin Boyd for documenting this sequence ...
 
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What you're going to do is use the Blackfin UART boot mode with the Matchport serving as the UART interface.  You will need a Linux system for this - it doesn't currently work for Windows.
 
The #1 place where people will get stuck is correctly setting the Serial settings in the Matchport Device Server Configuration Manager web interface.
 
0. Make sure the robot is powered on, and stays powered on.
 
1. Make the correct changes in the section labeled "Channel 1 -> Serial
Settings":
Protocol: RS232
Flow Control: None
Baud Rate: 115200
Data Bits: 8
Parity: None
Stop Bits: 1
 
2. Press the "OK" button at the bottom of this page (it will reply
"Done!") but you're not done
 
3. Click "Apply Settings" on the left and _be patient_ while the robot is
being updated.
 
4. On the robot, remove the jumper on pins 7-8 in block J1
 
5. On a Linux system, download the ldr-utils from the Blackfin download page.  If ldr executable provided doesn't work, Run make, then sudo make install.  From a terminal window, make sure you have installed ldr, and move to the folder with srv1.ldr files in it.
 
6. From this folder, issue the command
 
[xxxx@localhost SRV]# ldr -l -v srv1.ldr.115k 192.168.0.15:10001  (or whatever the IP address is for the Matchport)
 
7. Momentarily place the removed jumper on pins 1-2 in block J1 to reset the processor
 
8. Return the jumper to pins 7-8 in block J1
 
9. Start telnet and connect to the Matchport.  Type the 'V' command to get the Version string, confirming that the SRV-1 firmware is running
 
10.  From telnet, type 'X' to start an XMODEM transfer.  You'll see a few 'C' characters on the screen, indicating that the Blackfin is waiting for data.  Exit telnet, and start sx or lsz with
 
     sx -X -k -b --tcp-client 192.168.0.15:10001 srv1.ldr     - or -
 
     lsz -X -k -b --tcp-client 192.168.0.15:10001 srv1.ldr
 
11. From here, restart telnet and execute the 'zZ' command to save the uploaded firmware to flash memory.  Note that this should be the 921kbps version of the firmware, so when you reboot, make certain you've changed the Matchport back to 921k with hardware flow control.
Protocol: RS232
Flow Control: Hardware
Baud Rate: 921600
Data Bits: 8
Parity: None
Stop Bits: 1
 
Click "OK" at the bottom, and then click "Apply Settings" to the left, and
to get back at your original configuration.