I just posted the latest test firmware:
    http://srv.transterpreter.org         (SVN version 34), and
    http://www.surveyor.com/blackfin/srv-blackfin-041208.zip
 
The main changes, as described in srv-blackfin.README, are updates to the ldr utilities which build the srv1.ldr firmware images, a switch over to the 2008R1_RC8 version of the bfin-elf-gcc Blackfin compiler toolchain instead of the 2006 version we were previously using, and a switch to a different embedded Lisp interpreter.  Basically, the Lithp interpreter had some memory issues and fundamentally wasn't as easily extended as initially assumed.  
 
The Lisp interpreter now included was created by a mathematician, Dr Gregory Chaitin of IBM Research as a tool for developing mathematical proofs.  The interpreter can run code stored in the flash buffer or interactively from via the console.  The code needs some work to add robot functions and garbage collection, but it's very fast and very capable.  Some background on Chaitin Lisp is found here -  
    http://www.umcs.maine.edu/~chaitin/lisp.html and  
    http://www.umcs.maine.edu/~chaitin/rov.html (sample code at bottom of page)
 
The zip archive includes C and Lisp versions of firmware for 921k and 2500kbaud.  The srv1-c.ldr and srv1-lisp.ldr images are identical to srv1-c.ldr.921k and srv1-lisp.ldr.921k respectively.
 
Testing so far has gone well, but please let me know if you encounter any problems with this version.  There will likely be another update which starts adding robot functions to Lisp, but otherwise no other immediate changes are planned.