grblhal-glowforge: recipe with boot autostart

gitsm-pinned build of the controller with a sysvinit script (defaults 92, after forgectrl), installed in both images. Reboot-verified on the bench: controller and forgectrl come up unattended and Grbl answers on TCP:23.

docs/BRINGUP.md

@@ -102,7 +102,12 @@ grblHAL driver repo** (github.com/ScottW514/grblHAL-glowforge, branch
 `main`): core as a submodule at `src/grbl` (→ ScottW514/core fork, branch
 `forgefirm`, carrying the settings-write crash fix, PR'd upstream as
 grblHAL/core#999), `driver.c` implementing the HAL, machine constants in
-`src/boards/glowforge.h`. Architecture: a wall-paced producer thread runs
+`src/boards/glowforge.h`. **The controller autostarts at boot** since
+2026-08-03: the `grblhal-glowforge` recipe (meta-forgefirm; gitsm pin +
+sysvinit script `grblhal`, defaults 92) is installed in both images, and
+the same init script is installed on the current bench rootfs
+(reboot-verified: controller + forgectrl both up unattended, Grbl
+answering on :23). The manual start below remains the bench/debug path. Architecture: a wall-paced producer thread runs
 the core stepper ISR against a virtual step clock (1000× machine tick)
 and maps step events to pulse bytes; a SCHED_FIFO shipper feeds
 `/dev/glowforge` with the bounded queue; a recursive core mutex stands in
@@ -526,8 +531,8 @@ at live snapshots).
    2026-08-02** — the controller is now the canonical driver repo
    `github.com/ScottW514/grblHAL-glowforge` (+ `ScottW514/core` fork;
    the settings-write crash fix is upstream PR grblHAL/core#999; repoint
-   the submodule to upstream when it merges). Remaining: a Yocto recipe
-   for grblHAL-glowforge in meta-forgefirm (pin SRCREV; fills the
-   `forgectrl` slot per kas/README.md), Phase 7 doc sweep (CLAUDE.md
-   charter refresh, README roadmap), kas flip + first GitHub release per
-   kas/README.md once ready to publish.
+   the submodule to upstream when it merges). ~~Yocto recipe for
+   grblHAL-glowforge~~ **DONE 2026-08-03** (`grblhal-glowforge` in
+   meta-forgefirm, boot autostart, reboot-verified). Remaining: Phase 7
+   doc sweep (CLAUDE.md charter refresh, README roadmap), kas flip +
+   first GitHub release per kas/README.md once ready to publish.

kas/README.md

@@ -200,8 +200,8 @@ Scarthgap, but the legacy (Dunfell/Gatesgarth) layers won't build clean until:
    Glowforge's servers, the dependency ForgeFIRM exists to cut. Its slot is
    filled by `forgectrl` (github.com/ScottW514/forgectrl — the ForgeFIRM
    control daemon; camera MJPEG service today, hardware status/control and
-   GRBL-vs-cloud mode selection planned) plus the grblHAL controller
-   (recipe still pending, backlog item).
+   GRBL-vs-cloud mode selection planned) plus the `grblhal-glowforge`
+   motion controller (both in the images with boot autostart).
 
 ---
 

meta-forgefirm/recipes-forgefirm/grblhal-glowforge/grblhal-glowforge.bb

@@ -0,0 +1,30 @@
+DESCRIPTION = "grblHAL motion controller for the Glowforge factory board"
+HOMEPAGE = "https://github.com/ScottW514/grblHAL-glowforge"
+
+LICENSE = "GPL-3.0-or-later"
+LIC_FILES_CHKSUM = "file://COPYING;md5=3237e48bcef3455c7bea5c0ce16206f6"
+
+PV = "0.1.0"
+
+# gitsm: the grblHAL core rides as a submodule (ScottW514/core, branch
+# forgefirm, carrying the settings-write crash fix PR'd upstream).
+SRC_URI = "gitsm://github.com/ScottW514/grblHAL-glowforge.git;protocol=https;branch=main"
+# Pinned; bump deliberately after pushing grblHAL-glowforge changes.
+SRCREV = "c421f20281bb399bdbb65a45e355b3d4ca912d1d"
+
+SRC_URI += "file://grblhal.init"
+
+S = "${WORKDIR}/git"
+
+inherit cmake update-rc.d
+
+INITSCRIPT_NAME = "grblhal"
+INITSCRIPT_PARAMS = "defaults 92"
+
+do_install:append() {
+    install -d ${D}${sysconfdir}/init.d
+    install -m 0755 ${WORKDIR}/grblhal.init ${D}${sysconfdir}/init.d/grblhal
+}
+
+# The controller streams into /dev/glowforge (glowforge.ko) at runtime.
+RRECOMMENDS:${PN} = "kernel-module-glowforge"

meta-forgefirm/recipes-forgefirm/grblhal-glowforge/grblhal-glowforge/grblhal.init

@@ -0,0 +1,36 @@
+#!/bin/sh
+### BEGIN INIT INFO
+# Provides:          grblhal
+# Required-Start:    $local_fs
+# Required-Stop:
+# Default-Start:     2 3 4 5
+# Default-Stop:      0 1 6
+# Short-Description: grblHAL motion controller (Grbl over TCP:23)
+### END INIT INFO
+
+DAEMON=/usr/bin/grblHAL_glowforge
+PIDFILE=/var/run/grblhal.pid
+LOG=/data/glowforge.log
+
+case "$1" in
+  start)
+    echo "Starting grblHAL"
+    start-stop-daemon -S -q -p $PIDFILE -m -b -x /bin/sh -- \
+      -c "cd /data && GFSINK=/dev/glowforge exec $DAEMON -p 23 -e /data/EEPROM-glowforge.DAT >> $LOG 2>&1"
+    ;;
+  stop)
+    echo "Stopping grblHAL"
+    start-stop-daemon -K -q -p $PIDFILE
+    rm -f $PIDFILE
+    ;;
+  restart)
+    $0 stop
+    sleep 1
+    $0 start
+    ;;
+  *)
+    echo "Usage: $0 {start|stop|restart}"
+    exit 1
+    ;;
+esac
+exit 0

meta-forgefirm/recipes-forgefirm/images/forgefirm-image.bb

@@ -10,7 +10,8 @@ DESCRIPTION = "OpenGlow/ForgeFIRM image for Glowforge"
 # backlog #5).
 IMAGE_INSTALL:remove = "gfui-client"
 
+# grblhal-glowforge: the grblHAL motion controller (Grbl over TCP:23).
 # forgectrl: the ForgeFIRM control daemon (camera MJPEG service on :8080).
 # v4l-utils provides media-ctl / v4l2-ctl for the imx-media pipeline (also a
 # forgectrl runtime dependency, kept explicit here for bring-up use).
-IMAGE_INSTALL:append = " forgectrl v4l-utils"
+IMAGE_INSTALL:append = " grblhal-glowforge forgectrl v4l-utils"