1.  You can download the firmware source code from http://www.surveyor.com/blackfin/ - it is open source.  The most recent firmware is dated 12-19-07, but is found in the 12-16-07 archive - http://www.surveyor.com/blackfin/srv-blackfin-121607.zip . We found a few problems after posting the 12-16-07 code, but had already created links to srv-blackfin-121607.zip, so we modified that archive.  Sorry for any confusion this caused.
 
2.  We now have the firmware in an SVN repository that was created by a group at Olin College.  At the moment, access is private, but we have asked whether we can provide public access to svn checkout.  If this is possible, we will post links in various places on the website.
 
3.  As regards firmware status ...
 
     - We are working on a 'R' range firmware function that uses the lasers - that should end up in a firmware update by the end of January.    
 
     - The swarm mode was pretty specific to the original robot that had Zigbee radios, and we haven't given a lot of thought to supporting it with 802.11, but we'd probably want to change the overall communication scheme to be based on datagrams rather than TCP connections.  If you have specific ideas or requirements, we would like to hear about them.
 
     - The wander mode was basically a demo mode that internally used some of the 'v' vision functions.  I think instead we will provide some sample code for the C interpreter that performs the equivalent function.
 
     - As regards other future functions, we welcome suggestions.  We do plan to add some kind of basic neural net training and processing mapped into the vision processing, ranging, and motor control functions, and we will likely extend the set of onboard vision functions.