diff --git a/log.md b/log.md
index ab67164..dada8e8 100644
--- a/log.md
+++ b/log.md
@@ -4,6 +4,73 @@
 
 ---
 
+## 2026-04-29 01:30  KiCad 导出 Phase 3 PCB：6/6 .kicad_pcb 全部 kicad-cli 通过
+
+**Claude 会话**
+
+接 `ff5553f` 后续。Forge 投影最后一块——schematic 已经够用，做 `.kicad_pcb` 导出。一上来就铺了 Phase-1 最小可解析 scope（要先有"能在 KiCad 8 里打开 + kicad-cli 处理"的底线），不追全保真。
+
+### 做的
+
+1. **`tools/epro2/kicad/pcb_writer.py`** — 单 PCB doc → `.kicad_pcb` 主入口
+   - 数据驱动的层映射 `_build_layer_map`：扫所有 primitive 的 `layerId`，把真正用到的 SIGNAL 内层（id 15+）按 EPRO2-id 顺序铺成 `In1.Cu`/`In2.Cu`/...；F.Cu 永远 ordinal 0、B.Cu 永远 ordinal 31（KiCad 硬约定）。
+   - net 表：从 NET op 取名字，从 1 开始分配 id（0 留给 KiCad 的 "no net"）。
+   - 走 LINE：copper 层 → `(segment ...)`，layer 11 OUTLINE → `(gr_line layer Edge.Cuts)`；走 VIA → `(via)`；走 layer-11 POLY → 把 path 拆 polyline 段 emit 成 Edge.Cuts 上的 gr_line 链（实测板子轮廓全在 POLY 不在 LINE，少这步 edge=0）。
+   - ARC 现在按弦近似（Phase 1 不解 EPRO2 ARC.path 的圆心/半径表示，KiCad 收得下，DRC 报 invalid_outline——下一轮改）。
+
+2. **`tools/epro2/kicad/footprint_writer.py`** — inline `(footprint ...)` 块
+   - 走 FOOTPRINT.PAD：`RECT/ELLIPSE/OVAL/POLYGON` → KiCad `rect/circle/oval/custom`；hole 存在则 SMD→thru_hole + `(drill ...)`，SLOT 走 `(drill oval w h)` 二参形式。
+   - layer 映射：layerId 1 → `F.Cu+F.Mask+F.Paste`、2 → `B.Cu+B.Mask+B.Paste`、12 (MULTI/THT) → `*.Cu+*.Mask`。
+   - net 解析借 `pcb_rel.pad_nets_by_pad[pad_id]`（之前 `ProjectRelations` 已经为 PCB→FOOTPRINT cross-doc 攒过的索引现在派上用场）。
+   - bottom-side COMPONENT (`layerId=2`) 整个 footprint 走 `(layer B.Cu)`，Reference 标签同步落到 `B.SilkS`。
+
+3. **CLI 加 `--all-pcb`**（`tools/epro2/kicad/__main__.py`）：每个 PCB doc 一文件，文件名取 META.title。
+
+### ESP-VoCat 实测（6 个 PCB）
+
+| 板 | nets | footprints | segments | vias | edge_cuts |
+|---|---:|---:|---:|---:|---:|
+| BaseBoard | 38 | 59 | 391 | 126 | 4 |
+| CoreBoard | 84 | 87 | 1131 | 262 | 4 |
+| MicBoard | 13 | 17 | 88 | 47 | 16 |
+| LCD-BD | 7 | 5 | 66 | 35 | 2 |
+| Mainboard | 24 | 33 | 340 | 181 | 4 |
+| Sub-board | 4 | 5 | 10 | 0 | 4 |
+
+**6/6 都过 `kicad-cli pcb export svg`**——文件解析无 error、SVG 输出正常。footprint/track/via/edge cuts 全部可见。
+
+`kicad-cli pcb drc` 对最小的 MicBoard 跑：145 violations + 75 unconnected。分布：
+- 28 clearance（trace/pad 间距）+ 19 track_dangling + 39 via_dangling + 75 unconnected — 真连接问题，部分是 EPRO2 源里靠 POUR 解决但我们 Phase 1 没导
+- 21 silk_overlap + 8×2 edge_clearance + 3 invalid_outline — 边角 + silk 美化
+- 17 lib_footprint_issues — facere 库没注册（cosmetic，跟 schematic 一样）
+
+### Phase 1 砍掉的 / 下一轮再做
+
+- **POUR / POURED** — 铜皮覆铜，导了 75 unconnected 的大头会消掉（GND 大面积在 POUR 里走，没导出来 trace 当然报 unconnected）
+- **FILL** — 元件下方手工 fill 块
+- **ARC 圆心/半径解析** — 现在按弦近似，invalid_outline 警告就这来的
+- **TEARDROP** — pad/via 接 trace 处的圆角，纯美化
+- **STRING / IMAGE** — 板上文字和 logo 图
+
+### 决策（Why）
+
+- **板子原点平移到 (100, 100) mm**：EPRO2 板能在任意坐标（含负），KiCad 画布原点在 (0,0)，不平移开 KiCad 时板子可能根本不在视野里。100mm 是经验值，留够 silkscreen 边距。
+- **footprint inline 不走外部 .kicad_mod**：跟 schematic lib_symbol 同思路，自包含，能直接 `kicad-cli` 处理；缺点是同款 footprint 重复写多份，但 EPRO2 一个 SCH 内的 FOOTPRINT 数量级（几十）摊开来文件膨胀也不大。
+- **ELLIPSE 当 circle 不当 oval**：实测 ELLIPSE 的 width/height 经常相等（=圆形 pad），KiCad 没有真椭圆 pad type，circle 取 max(w,h) 比 oval 更接近圆。
+- **ARC 暂时按弦**：算 EPRO2 ARC 圆心要先反推三点定圆，浮点精度敏感。Phase 2 单独处理。
+
+### 测试
+
+52 → 65 单测全过：pcb_writer 8 个（layer map / net id / segment / via / outline POLY / 零长 skip / 非 PCB doc reject）+ footprint_writer 5 个（SMD pad layers / 圆 vs slot drill / pad net 跨 doc 解析 / bottom-layer 翻转 / unresolved skip）。
+
+### 下一步建议
+
+- **POUR/POURED 导 zone**（中工作量）：消掉大部分 75 unconnected，CoreBoard 这种 4-layer + 大量 GND/POWER 覆铜的板真实连通性会贴近完整。
+- **schematic + PCB 同时跑** 一个 export 命令（`--all`），生成完整 KiCad project 目录。
+- **Phase 4: KiCad project 文件 .kicad_pro**：让用户双击就能在 KiCad GUI 里打开 schematic + PCB 配对。
+
+---
+
 ## 2026-04-29 01:00  科普文档：爬取 per-doc .epro2 vs 网页端 .epro2 ZIP 整包
 
 **Claude 会话**
diff --git a/tools/epro2/kicad/__main__.py b/tools/epro2/kicad/__main__.py
index 0b930f8..ad8d217 100644
--- a/tools/epro2/kicad/__main__.py
+++ b/tools/epro2/kicad/__main__.py
@@ -22,6 +22,7 @@ from pathlib import Path
 
 from ..project_relations import ProjectRelations
 from ..replay import Document, Project, replay_project
+from .pcb_writer import write_pcb
 from .root_sch_writer import ChildSheet, new_sheet_uuid, write_root_sheet
 from .sch_writer import write_sch_page
 
@@ -153,12 +154,44 @@ def _convert_hierarchical(
     return root_count
 
 
+def _convert_all_pcb(proj: Project, out_dir: Path, pr: ProjectRelations) -> int:
+    """Emit one .kicad_pcb per PCB doc. Each is named after its META.title
+    and dropped into a sibling directory of the matching SCH for parity
+    with the schematic export layout."""
+    pcb_uuids = [u for u, d in proj.documents.items() if d.doc_type == "PCB"]
+    if not pcb_uuids:
+        print("no PCB docs in this project", file=sys.stderr)
+        return 0
+    print(f"Converting {len(pcb_uuids)} PCB doc(s) → {out_dir}")
+    n = 0
+    for u in pcb_uuids:
+        doc = proj.documents[u]
+        title = (doc.objects.get("META") or {}).get("title") or u[:12]
+        try:
+            text = write_pcb(doc, project_relations=pr)
+        except Exception as e:  # noqa: BLE001
+            print(f"  FAIL {u[:12]}: {e}", file=sys.stderr)
+            continue
+        out_path = out_dir / f"{_safe_filename(title)}.kicad_pcb"
+        out_path.write_text(text, encoding="utf-8")
+        stats = getattr(write_pcb, "last_stats", None)
+        if stats:
+            print(
+                f"  {out_path.name}: nets={stats.nets} fps={stats.footprints} "
+                f"fps_unresolved={stats.footprints_unresolved} "
+                f"segments={stats.segments} vias={stats.vias} edge={stats.edge_cuts}"
+            )
+        n += 1
+    return n
+
+
 def main(argv: list[str] | None = None) -> int:
-    ap = argparse.ArgumentParser(description="EPRO2 → KiCad schematic exporter (Phase 3 hierarchical)")
+    ap = argparse.ArgumentParser(description="EPRO2 → KiCad schematic + PCB exporter")
     ap.add_argument("project_dir", type=Path)
     g = ap.add_mutually_exclusive_group(required=True)
     g.add_argument("--doc", help="SCH_PAGE doc uuid (or unique prefix) to convert")
     g.add_argument("--all-sch", action="store_true", help="convert every SCH_PAGE")
+    g.add_argument("--all-pcb", action="store_true", help="convert every PCB doc to .kicad_pcb")
     ap.add_argument("--out", type=Path, default=Path("data/processed/kicad_sch"))
     ap.add_argument(
         "--no-lib-symbols",
@@ -176,6 +209,12 @@ def main(argv: list[str] | None = None) -> int:
     args.out.mkdir(parents=True, exist_ok=True)
     pr = None if args.no_lib_symbols else ProjectRelations.build(proj)
 
+    if args.all_pcb:
+        if pr is None:
+            pr = ProjectRelations.build(proj)
+        _convert_all_pcb(proj, args.out, pr=pr)
+        return 0
+
     if args.doc:
         _convert_one_flat(proj, args.doc, args.out, pr=pr)
         return 0
diff --git a/tools/epro2/kicad/footprint_writer.py b/tools/epro2/kicad/footprint_writer.py
new file mode 100644
index 0000000..48f1f1c
--- /dev/null
+++ b/tools/epro2/kicad/footprint_writer.py
@@ -0,0 +1,287 @@
+"""Convert one EPRO2 PCB COMPONENT + its FOOTPRINT doc → an inline
+``(footprint ...)`` block embedded in the parent .kicad_pcb.
+
+Phase-1 scope:
+  - Pad emission with EPRO2's RECT / ELLIPSE / OVAL / POLYGON shapes
+  - Pad nets resolved via PAD_NET ops on the PCB (cross-doc lookup)
+  - SMD vs THT detection via FOOTPRINT PAD.hole presence
+  - Silkscreen graphics from POLY ops on silk/courtyard layers
+  - Reference + Value text properties, placed at the COMPONENT origin
+
+Out of scope: 3D models, fab notes, custom pad layers per-pad, paste-mask
+expansion, complex SPECIAL pads with per-layer overrides.
+"""
+
+from __future__ import annotations
+
+import math
+import uuid as _uuid
+from typing import TYPE_CHECKING
+
+from ..relations import Relations
+from ..replay import Document
+from .sexpr import Sym
+
+if TYPE_CHECKING:
+    from ..project_relations import ProjectRelations
+    from .pcb_writer import _LayerMap
+
+MIL_TO_MM = 0.0254
+
+
+# -- EPRO2 pad shape → KiCad pad shape ----------------------------------
+PAD_SHAPE_MAP = {
+    "RECT": "rect",
+    "ELLIPSE": "circle",   # square-ish ELLIPSE, KiCad has no 'ellipse' pad — use circle
+    "OVAL": "oval",
+    "POLYGON": "custom",   # KiCad custom pad with primitive polygon
+}
+
+
+def _new_uuid() -> str:
+    return str(_uuid.uuid4())
+
+
+def _mm(v) -> float:
+    if v is None:
+        return 0.0
+    try:
+        return float(v) * MIL_TO_MM
+    except (TypeError, ValueError):
+        return 0.0
+
+
+def _kicad_layer_name(layer_id, layer_map: "_LayerMap") -> str | None:
+    if layer_id is None:
+        return None
+    try:
+        lid = int(layer_id)
+    except (TypeError, ValueError):
+        return None
+    return layer_map.epro_to_kicad.get(lid)
+
+
+def _pad_layers(pad_layer_id: int, has_hole: bool) -> list[str]:
+    """Layers a pad lives on, KiCad-style.
+
+    EPRO2 layerId convention for pads:
+      - 1 (TOP)   → SMD on top: F.Cu + F.Mask + F.Paste
+      - 2 (BOT)   → SMD on bottom: B.Cu + B.Mask + B.Paste
+      - 12 (MULTI)→ THT: all-copper + F&B Mask
+    """
+    if has_hole:
+        return ["*.Cu", "*.Mask"]
+    if pad_layer_id == 1:
+        return ["F.Cu", "F.Mask", "F.Paste"]
+    if pad_layer_id == 2:
+        return ["B.Cu", "B.Mask", "B.Paste"]
+    return ["*.Cu", "*.Mask"]
+
+
+def write_footprint_placement(
+    *,
+    fp_doc: Document,
+    comp_id: str,
+    comp: dict,
+    attrs: dict,
+    pcb_doc: Document,
+    pcb_rel: Relations,
+    project_relations: "ProjectRelations",
+    layer_map: "_LayerMap",
+    net_map: dict[str, int],
+    origin_mm: tuple[float, float],
+) -> list:
+    """Build a single ``(footprint ...)`` S-expr block for one PCB component.
+
+    Returns a Python list ready for ``to_sexpr``.
+    """
+    ox, oy = origin_mm
+    px = ox + _mm(comp.get("x"))
+    py = oy + _mm(comp.get("y"))
+    rotation = float(comp.get("angle") or 0)
+    on_bottom = int(comp.get("layerId") or 1) == 2
+    fp_layer = "B.Cu" if on_bottom else "F.Cu"
+
+    designator = str(attrs.get("Designator") or "")
+    value = str(attrs.get("Value") or "")
+    fp_meta = (fp_doc.objects.get("META") or {}).get("title") or fp_doc.doc_uuid[:8]
+
+    body: list = [
+        Sym("footprint"), f"facere:{fp_meta}",
+        [Sym("layer"), fp_layer],
+        [Sym("uuid"), _new_uuid()],
+        [Sym("at"), px, py, rotation],
+        [Sym("attr"), Sym("smd")],
+        [Sym("property"), "Reference", designator,
+            [Sym("at"), 0, -1.5, 0],
+            [Sym("layer"), "B.SilkS" if on_bottom else "F.SilkS"],
+            [Sym("uuid"), _new_uuid()],
+            [Sym("effects"), [Sym("font"), [Sym("size"), 1.0, 1.0],
+                              [Sym("thickness"), 0.15]]]],
+        [Sym("property"), "Value", value,
+            [Sym("at"), 0, 1.5, 0],
+            [Sym("layer"), "B.Fab" if on_bottom else "F.Fab"],
+            [Sym("uuid"), _new_uuid()],
+            [Sym("effects"), [Sym("font"), [Sym("size"), 1.0, 1.0],
+                              [Sym("thickness"), 0.15]]]],
+        [Sym("property"), "Footprint", "",
+            [Sym("at"), 0, 0, 0],
+            [Sym("layer"), "F.Fab"],
+            [Sym("hide"), Sym("yes")],
+            [Sym("uuid"), _new_uuid()],
+            [Sym("effects"), [Sym("font"), [Sym("size"), 1.0, 1.0]]]],
+        [Sym("property"), "Datasheet", "",
+            [Sym("at"), 0, 0, 0],
+            [Sym("layer"), "F.Fab"],
+            [Sym("hide"), Sym("yes")],
+            [Sym("uuid"), _new_uuid()],
+            [Sym("effects"), [Sym("font"), [Sym("size"), 1.0, 1.0]]]],
+    ]
+
+    fp_rel = project_relations.per_doc[fp_doc.doc_uuid]
+    pcb_uuid = pcb_doc.doc_uuid
+
+    # ---- pads --------------------------------------------------------------
+    for pad_id, pad in fp_rel.pads.items():
+        pad_block = _emit_pad(
+            pad=pad, pad_id=pad_id, comp_id=comp_id,
+            pcb_doc=pcb_doc, pcb_rel=pcb_rel,
+            net_map=net_map,
+        )
+        if pad_block is not None:
+            body.append(pad_block)
+
+    # ---- silkscreen / courtyard graphics from FOOTPRINT POLY/FILL ---------
+    # Local to the footprint origin — KiCad applies the placement at/rot
+    # transform on top, so we emit footprint-relative coords here.
+    for oid, obj in fp_doc.objects.items():
+        t = obj.get("_type")
+        if t not in ("POLY", "FILL"):
+            continue
+        kicad_layer = _kicad_layer_name(obj.get("layerId"), layer_map)
+        if not kicad_layer:
+            continue
+        # We only emit non-copper graphics inside footprints — copper inside
+        # a footprint that isn't a pad is unusual and best ignored for Phase 1.
+        if kicad_layer.endswith(".Cu"):
+            continue
+        path = obj.get("path") or []
+        pts = _decode_path(path)
+        if len(pts) < 2:
+            continue
+        body.append([
+            Sym("fp_poly") if t == "FILL" else Sym("fp_poly"),
+            [Sym("pts"), *[[Sym("xy"), x, y] for x, y in pts]],
+            [Sym("stroke"),
+                [Sym("width"), max(_mm(obj.get("width")), 0.05)],
+                [Sym("type"), Sym("default")]],
+            [Sym("fill"), Sym("solid") if t == "FILL" else Sym("none")],
+            [Sym("layer"), kicad_layer],
+            [Sym("uuid"), _new_uuid()],
+        ])
+
+    return body
+
+
+def _emit_pad(
+    *,
+    pad: dict,
+    pad_id: str,
+    comp_id: str,
+    pcb_doc: Document,
+    pcb_rel: Relations,
+    net_map: dict[str, int],
+) -> list | None:
+    """Emit a single ``(pad ...)`` block for one PAD inside a footprint.
+
+    Returns None when the pad is unrenderable (unknown shape, missing
+    geometry).
+    """
+    default_pad = pad.get("defaultPad") or {}
+    shape = PAD_SHAPE_MAP.get(default_pad.get("padType"))
+    if shape is None:
+        return None
+
+    cx = _mm(pad.get("centerX"))
+    cy = _mm(pad.get("centerY"))
+    w = _mm(default_pad.get("width"))
+    h = _mm(default_pad.get("height"))
+    if w <= 0 or h <= 0:
+        return None
+
+    rotation = float(pad.get("padAngle") or 0)
+    pin_num = str(pad.get("num") or "")
+    layer_id = int(pad.get("layerId") or 1)
+    hole = pad.get("hole")
+
+    # Resolve net via PAD_NET cross-reference on the PCB doc.
+    net_name = ""
+    for record in pcb_rel.pad_nets_by_pad.get(pad_id, []):
+        if record.get("comp") == comp_id:
+            net_name = record.get("net_name") or ""
+            break
+    net_id = net_map.get(str(net_name), 0)
+
+    pad_type: str
+    if hole:
+        pad_type = "thru_hole"
+    else:
+        pad_type = "smd"
+
+    block: list = [
+        Sym("pad"), pin_num, Sym(pad_type), Sym(shape),
+        [Sym("at"), cx, cy, rotation] if rotation else [Sym("at"), cx, cy],
+        [Sym("size"), w, h],
+        [Sym("layers"), *_pad_layers(layer_id, bool(hole))],
+    ]
+    if hole:
+        ht = (hole.get("holeType") or "ROUND").upper()
+        if ht == "SLOT":
+            hw = _mm(hole.get("width"))
+            hh = _mm(hole.get("height"))
+            block.append([Sym("drill"), Sym("oval"), max(hw, 0.1), max(hh, 0.1)])
+        else:
+            d = _mm(hole.get("width") or hole.get("diameter"))
+            block.append([Sym("drill"), max(d, 0.1)])
+    if net_id:
+        block.append([Sym("net"), net_id, net_name])
+    block.append([Sym("uuid"), _new_uuid()])
+    return block
+
+
+def _decode_path(path: list) -> list[tuple[float, float]]:
+    """EPRO2 graphic path → list of (x, y) in mm.
+
+    Supported shapes:
+      - flat ``[x1, y1, "L", x2, y2, x3, y3, ...]`` (line segments)
+      - flat ``[x1, y1, "L", x2, y2, ..., "ARC", ...]`` — arcs are skipped
+        in Phase 1; we collect the surrounding polyline points.
+
+    Anything we can't decode returns an empty list, which the caller treats
+    as "skip this primitive".
+    """
+    pts: list[tuple[float, float]] = []
+    if not isinstance(path, list) or not path:
+        return pts
+    i = 0
+    while i < len(path):
+        item = path[i]
+        if isinstance(item, str):
+            # Skip the verb token; numeric pairs follow.
+            if item == "ARC":
+                # Arc params: radius, endX, endY (typical) — bail to keep
+                # Phase 1 simple. KiCad fp_poly with chord is geometrically
+                # wrong but won't fail to parse.
+                i += 1
+                continue
+            i += 1
+            continue
+        # Treat as numeric pair
+        try:
+            x = float(item)
+            y = float(path[i + 1])
+            pts.append((x * MIL_TO_MM, y * MIL_TO_MM))
+            i += 2
+        except (TypeError, ValueError, IndexError):
+            i += 1
+    return pts
diff --git a/tools/epro2/kicad/pcb_writer.py b/tools/epro2/kicad/pcb_writer.py
new file mode 100644
index 0000000..936f59e
--- /dev/null
+++ b/tools/epro2/kicad/pcb_writer.py
@@ -0,0 +1,490 @@
+"""Convert one EPRO2 PCB Document → a KiCad ``.kicad_pcb`` S-expr.
+
+Phase-1 scope (matches the schematic Phase-1: parses cleanly in KiCad 8 and
+shows the correct geometry, but doesn't try to be a 1:1 EDA round-trip):
+
+  - Header + paper + layer table (only EPRO2 layers actually used on the board)
+  - Net list from NET ops + a name→id mapping shared with footprints/tracks/vias
+  - One ``(footprint ...)`` per PCB COMPONENT, body delegated to footprint_writer
+  - LINEs on copper layers → ``(segment ...)``; on Edge.Cuts → ``(gr_line ...)``
+  - VIAs → ``(via ...)``
+  - ARCs on Edge.Cuts → ``(gr_arc ...)``
+
+Out of scope for Phase 1 (warnings/cosmetic, not connectivity):
+  - POUR / POURED zones — copper pours
+  - FILL — manual filled regions
+  - TEARDROP — fillets at via/pad junctions
+  - IMAGE — bitmap logos
+  - STRING — board-level text
+  - net classes / design rules / setup blocks beyond defaults
+
+Coordinate system: EPRO2 PCB stores everything in **mil**, with both axes
+matching KiCad's Y-down. We just multiply by ``MIL_TO_MM = 0.0254``. We
+also translate by ``board_origin_mm`` so the board sits at a friendly
+(100, 100) mm origin in KiCad rather than wherever the user happened to
+place it in the editor.
+"""
+
+from __future__ import annotations
+
+import math
+import uuid as _uuid
+from dataclasses import dataclass, field
+from typing import Iterable
+
+from ..project_relations import ProjectRelations
+from ..relations import Relations
+from ..replay import Document
+from .footprint_writer import write_footprint_placement
+from .sexpr import Sym, to_sexpr
+
+MIL_TO_MM = 0.0254
+
+KICAD_PCB_VERSION = 20240108  # KiCad 8.0
+KICAD_GENERATOR = "facere-epro2"
+
+
+# -- EPRO2 layerId → KiCad layer name -----------------------------------
+#
+# Copper (signal) layers are special: KiCad numbers them 0..31 with F.Cu=0
+# and B.Cu always = 31 (regardless of board layer count). Inner layers are
+# In1.Cu .. In30.Cu. We map EPRO2 SIGNAL layer ids 15+ to inner layers in
+# the order they appear, so a board with EPRO2 ids 15(GND) and 16(POWER)
+# becomes In1.Cu and In2.Cu.
+
+#: Direct (non-copper) layer mapping. EPRO2 id → KiCad layer name.
+EPRO2_LAYER_TO_KICAD: dict[int, str] = {
+    3: "F.SilkS",
+    4: "B.SilkS",
+    5: "F.Mask",
+    6: "B.Mask",
+    7: "F.Paste",
+    8: "B.Paste",
+    9: "F.Fab",
+    10: "B.Fab",
+    11: "Edge.Cuts",
+    13: "Dwgs.User",
+    14: "Cmts.User",
+    48: "F.CrtYd",   # COMPONENT_SHAPE → courtyard
+    49: "F.Fab",     # COMPONENT_MARKING → fab (already mapped above too)
+    50: "F.Paste",   # PIN_SOLDERING ≈ paste mask (heuristic)
+    51: "F.Adhes",   # PIN_FLOATING (rare; fallback)
+}
+
+
+@dataclass
+class WriteStats:
+    nets: int = 0
+    footprints: int = 0
+    footprints_unresolved: int = 0
+    segments: int = 0
+    vias: int = 0
+    edge_cuts: int = 0
+    skipped: int = 0
+
+
+@dataclass
+class _LayerMap:
+    """Resolved EPRO2-id → KiCad-name mapping for one PCB.
+
+    Copper layer assignment is data-driven: we walk every primitive on the
+    board to discover which EPRO2 ids actually carry geometry, then assign
+    them to In1.Cu, In2.Cu, ... in sorted order.
+    """
+
+    epro_to_kicad: dict[int, str] = field(default_factory=dict)
+    kicad_layers_in_order: list[tuple[int, str, str]] = field(default_factory=list)
+    """[(ordinal, kicad_layer_name, type)]; ordinal is the integer KiCad uses
+    in the (layers ...) header. ``type`` is ``"signal"`` or ``"user"``."""
+
+
+def _build_layer_map(doc: Document) -> _LayerMap:
+    used_layer_ids: set[int] = set()
+    inner_signal_ids: list[int] = []  # EPRO2 SIGNAL ids actually populated
+    for oid, obj in doc.objects.items():
+        if oid.startswith('["LAYER"'):
+            continue
+        layer_id = obj.get("layerId")
+        if layer_id is None:
+            continue
+        try:
+            lid = int(layer_id)
+        except (TypeError, ValueError):
+            continue
+        used_layer_ids.add(lid)
+
+    # Discover which inner-signal layers are actually used (LAYER op declares
+    # use=True for many that the user never drew on; only the ones with real
+    # geometry need to appear in our (layers) header).
+    for oid, obj in doc.objects.items():
+        if obj.get("_type") != "LAYER":
+            continue
+        if not oid.startswith('["LAYER",'):
+            continue
+        try:
+            import json
+            cid = json.loads(oid)
+            lid = int(cid[1])
+        except (ValueError, TypeError, IndexError):
+            continue
+        if obj.get("layerType") == "SIGNAL" and lid in used_layer_ids:
+            inner_signal_ids.append(lid)
+    inner_signal_ids.sort()
+
+    epro_to_kicad: dict[int, str] = {1: "F.Cu", 2: "B.Cu"}
+    layers_in_order: list[tuple[int, str, str]] = [(0, "F.Cu", "signal")]
+    for n, lid in enumerate(inner_signal_ids, start=1):
+        kname = f"In{n}.Cu"
+        epro_to_kicad[lid] = kname
+        layers_in_order.append((n, kname, "signal"))
+    layers_in_order.append((31, "B.Cu", "signal"))
+
+    # User/tech layers — only emit the ones the board actually uses, plus a
+    # few KiCad expects to exist (silk/mask/paste/edge cuts) so footprints
+    # that reference them via standard names always parse.
+    required_user_layers = [
+        (32, "B.Adhes", "user"),
+        (33, "F.Adhes", "user"),
+        (34, "B.Paste", "user"),
+        (35, "F.Paste", "user"),
+        (36, "B.SilkS", "user"),
+        (37, "F.SilkS", "user"),
+        (38, "B.Mask", "user"),
+        (39, "F.Mask", "user"),
+        (40, "Dwgs.User", "user"),
+        (41, "Cmts.User", "user"),
+        (44, "Edge.Cuts", "user"),
+        (45, "Margin", "user"),
+        (46, "B.CrtYd", "user"),
+        (47, "F.CrtYd", "user"),
+        (48, "B.Fab", "user"),
+        (49, "F.Fab", "user"),
+    ]
+    layers_in_order.extend(required_user_layers)
+    for eid, kname in EPRO2_LAYER_TO_KICAD.items():
+        epro_to_kicad.setdefault(eid, kname)
+    return _LayerMap(epro_to_kicad=epro_to_kicad, kicad_layers_in_order=layers_in_order)
+
+
+def _new_uuid() -> str:
+    return str(_uuid.uuid4())
+
+
+def _mm(v) -> float:
+    if v is None:
+        return 0.0
+    try:
+        return float(v) * MIL_TO_MM
+    except (TypeError, ValueError):
+        return 0.0
+
+
+def _kicad_layer(layer_id, layer_map: _LayerMap) -> str | None:
+    if layer_id is None:
+        return None
+    try:
+        lid = int(layer_id)
+    except (TypeError, ValueError):
+        return None
+    return layer_map.epro_to_kicad.get(lid)
+
+
+def _is_copper(layer_name: str | None) -> bool:
+    return bool(layer_name) and (layer_name.endswith(".Cu"))
+
+
+def _build_net_map(doc: Document) -> dict[str, int]:
+    """Assign integer net ids stable for this PCB. Net id 0 is reserved
+    for "no net" (KiCad convention)."""
+    net_map: dict[str, int] = {}
+    next_id = 1
+    for oid in doc.objects:
+        if oid.startswith('["NET",'):
+            try:
+                import json
+                cid = json.loads(oid)
+                name = str(cid[1])
+            except (ValueError, IndexError):
+                continue
+            if name and name not in net_map:
+                net_map[name] = next_id
+                next_id += 1
+    return net_map
+
+
+def write_pcb(
+    doc: Document,
+    *,
+    project_relations: ProjectRelations | None = None,
+    board_origin_mm: tuple[float, float] = (100.0, 100.0),
+) -> str:
+    """Render a single PCB Document as kicad_pcb text.
+
+    ``board_origin_mm`` is added to every coordinate so the board lands in
+    a sensible spot in the KiCad canvas (EPRO2 boards can be anywhere,
+    including with negative coordinates).
+    """
+    if doc.doc_type != "PCB":
+        raise ValueError(f"expected PCB doc, got {doc.doc_type!r}")
+
+    rel = Relations.build(doc)
+    layer_map = _build_layer_map(doc)
+    net_map = _build_net_map(doc)
+    stats = WriteStats()
+    ox, oy = board_origin_mm
+
+    # ---- (layers ...) -----------------------------------------------------
+    layers_block = [Sym("layers")]
+    for ordinal, kname, ltype in layer_map.kicad_layers_in_order:
+        layers_block.append([ordinal, kname, Sym(ltype)])
+
+    # ---- (net N "name") ---------------------------------------------------
+    net_blocks: list = [[Sym("net"), 0, ""]]
+    for name, nid in sorted(net_map.items(), key=lambda kv: kv[1]):
+        net_blocks.append([Sym("net"), nid, name])
+    stats.nets = len(net_map)
+
+    # ---- footprints + tracks + vias + edge cuts --------------------------
+    footprint_blocks: list = []
+    track_blocks: list = []
+    via_blocks: list = []
+    graphic_blocks: list = []
+
+    # Footprints: walk PCB COMPONENTs
+    for cid, comp in rel.components.items():
+        fp_uuid = (
+            project_relations.resolve_footprint_doc(doc.doc_uuid, cid)
+            if project_relations is not None
+            else None
+        )
+        if not fp_uuid or fp_uuid not in project_relations.project.documents:
+            stats.footprints_unresolved += 1
+            continue
+        fp_doc = project_relations.project.documents[fp_uuid]
+        attrs = rel.attrs_dict(cid)
+        try:
+            fp_block = write_footprint_placement(
+                fp_doc=fp_doc,
+                comp_id=cid,
+                comp=comp,
+                attrs=attrs,
+                pcb_doc=doc,
+                pcb_rel=rel,
+                project_relations=project_relations,
+                layer_map=layer_map,
+                net_map=net_map,
+                origin_mm=board_origin_mm,
+            )
+        except Exception as e:  # noqa: BLE001
+            stats.skipped += 1
+            continue
+        footprint_blocks.append(fp_block)
+        stats.footprints += 1
+
+    # Tracks: LINE on copper layer with netName
+    for oid, obj in doc.objects.items():
+        if obj.get("_type") != "LINE":
+            continue
+        kicad_layer = _kicad_layer(obj.get("layerId"), layer_map)
+        if not kicad_layer:
+            continue
+        x1 = ox + _mm(obj.get("startX"))
+        y1 = oy + _mm(obj.get("startY"))
+        x2 = ox + _mm(obj.get("endX"))
+        y2 = oy + _mm(obj.get("endY"))
+        if math.isclose(x1, x2) and math.isclose(y1, y2):
+            stats.skipped += 1
+            continue
+        width_mm = _mm(obj.get("width"))
+        if _is_copper(kicad_layer):
+            net_name = obj.get("netName") or ""
+            net_id = net_map.get(str(net_name), 0)
+            track_blocks.append([
+                Sym("segment"),
+                [Sym("start"), x1, y1],
+                [Sym("end"), x2, y2],
+                [Sym("width"), width_mm or 0.2],
+                [Sym("layer"), kicad_layer],
+                [Sym("net"), net_id],
+                [Sym("uuid"), _new_uuid()],
+            ])
+            stats.segments += 1
+        elif kicad_layer == "Edge.Cuts":
+            graphic_blocks.append([
+                Sym("gr_line"),
+                [Sym("start"), x1, y1],
+                [Sym("end"), x2, y2],
+                [Sym("stroke"), [Sym("width"), width_mm or 0.1],
+                                [Sym("type"), Sym("default")]],
+                [Sym("layer"), kicad_layer],
+                [Sym("uuid"), _new_uuid()],
+            ])
+            stats.edge_cuts += 1
+
+    # POLYs — board outline lives here (path can be polyline or CIRCLE).
+    # Emit on Edge.Cuts as gr_line / gr_circle. Other layers in Phase 1 are
+    # cosmetic and skipped (Phase 2 covers silk/courtyard).
+    for oid, obj in doc.objects.items():
+        if obj.get("_type") != "POLY":
+            continue
+        kicad_layer = _kicad_layer(obj.get("layerId"), layer_map)
+        if kicad_layer != "Edge.Cuts":
+            continue
+        path = obj.get("path") or []
+        width_mm = max(_mm(obj.get("width")), 0.1)
+        # CIRCLE shape: ["CIRCLE", cx, cy, radius]
+        if len(path) == 4 and isinstance(path[0], str) and path[0].upper() == "CIRCLE":
+            try:
+                cx = ox + _mm(path[1])
+                cy = oy + _mm(path[2])
+                radius = _mm(path[3])
+            except (TypeError, ValueError):
+                continue
+            graphic_blocks.append([
+                Sym("gr_circle"),
+                [Sym("center"), cx, cy],
+                [Sym("end"), cx + radius, cy],
+                [Sym("stroke"), [Sym("width"), width_mm], [Sym("type"), Sym("default")]],
+                [Sym("fill"), Sym("none")],
+                [Sym("layer"), "Edge.Cuts"],
+                [Sym("uuid"), _new_uuid()],
+            ])
+            stats.edge_cuts += 1
+            continue
+        # Polyline: emit each numeric pair as a gr_line segment chain.
+        prev: tuple[float, float] | None = None
+        i = 0
+        while i < len(path):
+            tok = path[i]
+            if isinstance(tok, str):
+                if tok.upper() == "ARC":
+                    # ARC <radius> <endX> <endY> ...
+                    # Emit as a chord; KiCad still parses this and the
+                    # geometry is approximate for Phase 1.
+                    try:
+                        end_x = ox + _mm(path[i + 2])
+                        end_y = oy + _mm(path[i + 3])
+                    except (TypeError, ValueError, IndexError):
+                        i += 1
+                        continue
+                    if prev is not None:
+                        graphic_blocks.append([
+                            Sym("gr_line"),
+                            [Sym("start"), prev[0], prev[1]],
+                            [Sym("end"), end_x, end_y],
+                            [Sym("stroke"), [Sym("width"), width_mm],
+                                            [Sym("type"), Sym("default")]],
+                            [Sym("layer"), "Edge.Cuts"],
+                            [Sym("uuid"), _new_uuid()],
+                        ])
+                        stats.edge_cuts += 1
+                    prev = (end_x, end_y)
+                    i += 4
+                    continue
+                # 'L' = line-to (default)
+                i += 1
+                continue
+            try:
+                x = ox + _mm(path[i])
+                y = oy + _mm(path[i + 1])
+            except (TypeError, ValueError, IndexError):
+                i += 1
+                continue
+            if prev is not None:
+                graphic_blocks.append([
+                    Sym("gr_line"),
+                    [Sym("start"), prev[0], prev[1]],
+                    [Sym("end"), x, y],
+                    [Sym("stroke"), [Sym("width"), width_mm],
+                                    [Sym("type"), Sym("default")]],
+                    [Sym("layer"), "Edge.Cuts"],
+                    [Sym("uuid"), _new_uuid()],
+                ])
+                stats.edge_cuts += 1
+            prev = (x, y)
+            i += 2
+
+    # ARCs on Edge.Cuts (Phase 1: only edge-cut arcs; copper arcs are rare
+    # in our sample and skipped to keep scope tight).
+    for oid, obj in doc.objects.items():
+        if obj.get("_type") != "ARC":
+            continue
+        kicad_layer = _kicad_layer(obj.get("layerId"), layer_map)
+        if kicad_layer != "Edge.Cuts":
+            continue
+        path = obj.get("path") or []
+        # ARC.path = [startX, startY, "ARC", radius?, endX, endY, ...] —
+        # representation varies; skipped if we can't decode quickly.
+        if len(path) < 6:
+            continue
+        try:
+            sx = ox + _mm(path[0])
+            sy = oy + _mm(path[1])
+            # path[2] should be "ARC" tag
+            ex = ox + _mm(path[-2])
+            ey = oy + _mm(path[-1])
+        except (TypeError, ValueError):
+            continue
+        # Compute mid as the geometric midpoint as a placeholder (KiCad
+        # gr_arc needs three points; without parsing the radius reliably we
+        # emit a chord-like arc which KiCad's parser still accepts).
+        mx, my = (sx + ex) / 2, (sy + ey) / 2
+        graphic_blocks.append([
+            Sym("gr_arc"),
+            [Sym("start"), sx, sy],
+            [Sym("mid"), mx, my],
+            [Sym("end"), ex, ey],
+            [Sym("stroke"), [Sym("width"), _mm(obj.get("width")) or 0.1],
+                            [Sym("type"), Sym("default")]],
+            [Sym("layer"), "Edge.Cuts"],
+            [Sym("uuid"), _new_uuid()],
+        ])
+        stats.edge_cuts += 1
+
+    # Vias
+    for oid, obj in doc.objects.items():
+        if obj.get("_type") != "VIA":
+            continue
+        x = ox + _mm(obj.get("centerX"))
+        y = oy + _mm(obj.get("centerY"))
+        size_mm = _mm(obj.get("viaDiameter"))
+        drill_mm = _mm(obj.get("holeDiameter"))
+        if size_mm <= 0 or drill_mm <= 0:
+            stats.skipped += 1
+            continue
+        net_id = net_map.get(str(obj.get("netName") or ""), 0)
+        via_blocks.append([
+            Sym("via"),
+            [Sym("at"), x, y],
+            [Sym("size"), size_mm],
+            [Sym("drill"), drill_mm],
+            [Sym("layers"), "F.Cu", "B.Cu"],
+            [Sym("net"), net_id],
+            [Sym("uuid"), _new_uuid()],
+        ])
+        stats.vias += 1
+
+    title = (doc.objects.get("META") or {}).get("title") or doc.doc_uuid[:12]
+    pcb: list = [
+        Sym("kicad_pcb"),
+        [Sym("version"), KICAD_PCB_VERSION],
+        [Sym("generator"), KICAD_GENERATOR],
+        [Sym("general"), [Sym("thickness"), 1.6],
+                          [Sym("legacy_teardrops"), Sym("no")]],
+        [Sym("paper"), "A4"],
+        [Sym("title_block"),
+            [Sym("title"), title],
+            [Sym("comment"), 1, f"epro2 doc_uuid: {doc.doc_uuid}"],
+            [Sym("comment"), 2, f"editor: {doc.head.get('editVersion','')}"]],
+        layers_block,
+        [Sym("setup"),
+            [Sym("pad_to_mask_clearance"), 0],
+            [Sym("allow_soldermask_bridges_in_footprints"), Sym("no")]],
+        *net_blocks,
+        *footprint_blocks,
+        *graphic_blocks,
+        *track_blocks,
+        *via_blocks,
+    ]
+    write_pcb.last_stats = stats  # type: ignore[attr-defined]
+    return to_sexpr(pcb, pretty=True)
diff --git a/tools/epro2/tests/test_footprint_writer.py b/tools/epro2/tests/test_footprint_writer.py
new file mode 100644
index 0000000..b0f49fd
--- /dev/null
+++ b/tools/epro2/tests/test_footprint_writer.py
@@ -0,0 +1,165 @@
+"""Footprint writer regression: synthetic PCB+FOOTPRINT pair → (footprint ...)."""
+
+import math
+
+from tools.epro2.kicad._sexpr_reader import parse
+from tools.epro2.kicad.pcb_writer import MIL_TO_MM, write_pcb
+from tools.epro2.project_relations import ProjectRelations
+from tools.epro2.replay import Document, Project
+
+
+def _close(a, b):
+    return math.isclose(a, b, abs_tol=1e-6)
+
+
+def _block(parsed, name):
+    return [c for c in parsed if isinstance(c, list) and c and c[0] == name]
+
+
+def _build(fp_objs: list[tuple[str, dict]],
+           pcb_objs: list[tuple[str, dict]],
+           comp_id: str = "C1",
+           fp_uuid: str = "FP1") -> str:
+    fp = Document(doc_uuid=fp_uuid, doc_type="FOOTPRINT")
+    fp.objects["META"] = {"_type": "META", "title": "TestFp"}
+    for k, v in fp_objs:
+        fp.objects[k] = v
+    pcb = Document(doc_uuid="pcb1", doc_type="PCB")
+    pcb.head = {"docType": "PCB", "editVersion": "3.2.91"}
+    for k, v in pcb_objs:
+        pcb.objects[k] = v
+    proj = Project(project_uuid="p")
+    proj.documents[fp_uuid] = fp
+    proj.documents["pcb1"] = pcb
+    pr = ProjectRelations.build(proj)
+    return write_pcb(pcb, project_relations=pr, board_origin_mm=(0.0, 0.0))
+
+
+def test_smd_rect_pad_lands_on_top_copper_mask_and_paste():
+    """A rectangular SMD pad on EPRO2 layer 1 (TOP) must write its layers
+    as F.Cu/F.Mask/F.Paste in KiCad — leaving any of those out drops the
+    pad from solder mask / paste stencil and the board fails fab."""
+    text = _build(
+        fp_objs=[
+            ("p1", {"_type": "PAD", "num": "1", "centerX": 0, "centerY": 0,
+                    "padAngle": 0, "layerId": 1, "hole": None,
+                    "defaultPad": {"padType": "RECT", "width": 30, "height": 20},
+                    "specialPad": []}),
+        ],
+        pcb_objs=[
+            ("C1", {"_type": "COMPONENT", "x": 100, "y": 100, "angle": 0, "layerId": 1}),
+            ("a1", {"_type": "ATTR", "parentId": "C1", "key": "Footprint", "value": "FP1"}),
+        ],
+    )
+    p = parse(text)
+    fp = _block(p, "footprint")[0]
+    pads = [c for c in fp if isinstance(c, list) and c[0] == "pad"]
+    assert len(pads) == 1
+    pad = pads[0]
+    assert pad[1] == "1"
+    assert pad[2] == "smd"
+    assert pad[3] == "rect"
+    layers = next(c for c in pad if isinstance(c, list) and c[0] == "layers")
+    assert set(layers[1:]) == {"F.Cu", "F.Mask", "F.Paste"}
+
+
+def test_pad_with_hole_writes_thru_hole_and_drill():
+    """A PAD with `hole` set is THT — must be `thru_hole`, span `*.Cu` and
+    have a `(drill ...)` block. Slot holes additionally need the
+    `(drill oval w h)` two-arg form."""
+    text = _build(
+        fp_objs=[
+            ("p1", {"_type": "PAD", "num": "1", "centerX": 0, "centerY": 0,
+                    "padAngle": 0, "layerId": 12,
+                    "hole": {"holeType": "ROUND", "width": 12, "height": 12},
+                    "defaultPad": {"padType": "ELLIPSE", "width": 24, "height": 24}}),
+            ("p2", {"_type": "PAD", "num": "2", "centerX": 50, "centerY": 0,
+                    "padAngle": 0, "layerId": 12,
+                    "hole": {"holeType": "SLOT", "width": 30, "height": 12},
+                    "defaultPad": {"padType": "OVAL", "width": 50, "height": 24}}),
+        ],
+        pcb_objs=[
+            ("C1", {"_type": "COMPONENT", "x": 100, "y": 100, "angle": 0}),
+            ("a1", {"_type": "ATTR", "parentId": "C1", "key": "Footprint", "value": "FP1"}),
+        ],
+    )
+    p = parse(text)
+    fp = _block(p, "footprint")[0]
+    pads = [c for c in fp if isinstance(c, list) and c[0] == "pad"]
+    assert len(pads) == 2
+    by_num = {pad[1]: pad for pad in pads}
+    # Round through-hole
+    p1 = by_num["1"]
+    assert p1[2] == "thru_hole"
+    drill1 = next(c for c in p1 if isinstance(c, list) and c[0] == "drill")
+    assert _close(drill1[1], 12 * MIL_TO_MM)
+    # Slot through-hole
+    p2 = by_num["2"]
+    drill2 = next(c for c in p2 if isinstance(c, list) and c[0] == "drill")
+    assert drill2[1] == "oval"
+    assert _close(drill2[2], 30 * MIL_TO_MM)
+    assert _close(drill2[3], 12 * MIL_TO_MM)
+
+
+def test_pad_net_resolved_via_pad_net_op():
+    """KiCad needs `(net N "name")` on each pad to know which net it
+    belongs to. The mapping comes from the PCB-level PAD_NET op (not
+    from anything in the footprint), so it has to be pulled cross-doc."""
+    text = _build(
+        fp_objs=[
+            ("p1", {"_type": "PAD", "num": "1", "centerX": 0, "centerY": 0,
+                    "layerId": 1, "hole": None,
+                    "defaultPad": {"padType": "RECT", "width": 30, "height": 20}}),
+        ],
+        pcb_objs=[
+            ('["NET","GND"]', {"_type": "NET"}),
+            ("C1", {"_type": "COMPONENT", "x": 0, "y": 0, "angle": 0}),
+            ("a1", {"_type": "ATTR", "parentId": "C1", "key": "Footprint", "value": "FP1"}),
+            ('["PAD_NET","C1","1","p1"]', {"_type": "PAD_NET", "padNet": "GND"}),
+        ],
+    )
+    p = parse(text)
+    fp = _block(p, "footprint")[0]
+    pad = next(c for c in fp if isinstance(c, list) and c[0] == "pad")
+    net_block = next(c for c in pad if isinstance(c, list) and c[0] == "net")
+    assert net_block[2] == "GND"
+    assert net_block[1] >= 1
+
+
+def test_component_on_bottom_layer_gets_b_cu_layer():
+    """COMPONENT.layerId=2 places the footprint on B.Cu, with text
+    properties moved to B.SilkS / B.Fab. Without this a bottom-side
+    component renders on F.Cu and the netlist routes through phantom
+    geometry."""
+    text = _build(
+        fp_objs=[
+            ("p1", {"_type": "PAD", "num": "1", "centerX": 0, "centerY": 0,
+                    "layerId": 1, "hole": None,
+                    "defaultPad": {"padType": "RECT", "width": 30, "height": 20}}),
+        ],
+        pcb_objs=[
+            ("C1", {"_type": "COMPONENT", "x": 0, "y": 0, "angle": 0, "layerId": 2}),
+            ("a1", {"_type": "ATTR", "parentId": "C1", "key": "Footprint", "value": "FP1"}),
+        ],
+    )
+    p = parse(text)
+    fp = _block(p, "footprint")[0]
+    layer = next(c for c in fp if isinstance(c, list) and c[0] == "layer")
+    assert layer[1] == "B.Cu"
+
+
+def test_unresolved_footprint_skipped_with_diagnostic():
+    """A COMPONENT without a Footprint ATTR pointing at a real
+    FOOTPRINT doc must be skipped — emitting an empty (footprint ...)
+    block would crash kicad-cli on load."""
+    pcb = Document(doc_uuid="pcb1", doc_type="PCB")
+    pcb.head = {"docType": "PCB", "editVersion": "3.2.91"}
+    pcb.objects["C1"] = {"_type": "COMPONENT", "x": 0, "y": 0}
+    # No matching FOOTPRINT doc, no Footprint ATTR
+    proj = Project(project_uuid="p")
+    proj.documents["pcb1"] = pcb
+    pr = ProjectRelations.build(proj)
+    text = write_pcb(pcb, project_relations=pr)
+    p = parse(text)
+    assert _block(p, "footprint") == []
+    assert getattr(write_pcb, "last_stats").footprints_unresolved == 1
diff --git a/tools/epro2/tests/test_pcb_writer.py b/tools/epro2/tests/test_pcb_writer.py
new file mode 100644
index 0000000..23d70c8
--- /dev/null
+++ b/tools/epro2/tests/test_pcb_writer.py
@@ -0,0 +1,162 @@
+"""PCB writer regression: synthetic PCB doc → kicad_pcb → re-parse."""
+
+import math
+
+from tools.epro2.kicad._sexpr_reader import parse
+from tools.epro2.kicad.pcb_writer import MIL_TO_MM, write_pcb
+from tools.epro2.project_relations import ProjectRelations
+from tools.epro2.replay import Document, Project
+
+
+def _close(a, b):
+    """Float-close: 6-decimal s-expr roundtrip can lose strict equality."""
+    return math.isclose(a, b, abs_tol=1e-6)
+
+
+def _block(parsed, name):
+    return [c for c in parsed if isinstance(c, list) and c and c[0] == name]
+
+
+def _pcb(objs, doc_uuid="pcb1") -> Document:
+    d = Document(doc_uuid=doc_uuid, doc_type="PCB")
+    d.head = {"docType": "PCB", "editVersion": "3.2.91"}
+    for k, v in objs:
+        d.objects[k] = v
+    return d
+
+
+def _empty_pr(pcb_doc: Document) -> ProjectRelations:
+    p = Project(project_uuid="p")
+    p.documents[pcb_doc.doc_uuid] = pcb_doc
+    return ProjectRelations.build(p)
+
+
+def test_writer_emits_header_and_layers():
+    d = _pcb([("META", {"_type": "META", "title": "BoardX"})])
+    text = write_pcb(d, project_relations=_empty_pr(d))
+    p = parse(text)
+    assert p[0] == "kicad_pcb"
+    layers = _block(p, "layers")[0]
+    # F.Cu is always ordinal 0, B.Cu always 31 — KiCad convention.
+    rows = [row for row in layers[1:] if isinstance(row, list)]
+    by_name = {r[1]: r[0] for r in rows}
+    assert by_name["F.Cu"] == 0
+    assert by_name["B.Cu"] == 31
+    assert "Edge.Cuts" in by_name
+
+
+def test_inner_signal_layers_inserted_in_id_order():
+    """An EPRO2 4-layer board with SIGNAL ids 15 and 16 actually used must
+    map to In1.Cu and In2.Cu (in EPRO2-id sorted order) so the PCB
+    layer-stack ordering matches the editor's intent."""
+    d = _pcb([
+        ('["LAYER",1]', {"_type": "LAYER", "layerType": "TOP", "use": True}),
+        ('["LAYER",2]', {"_type": "LAYER", "layerType": "BOTTOM", "use": True}),
+        ('["LAYER",15]', {"_type": "LAYER", "layerType": "SIGNAL", "use": True}),
+        ('["LAYER",16]', {"_type": "LAYER", "layerType": "SIGNAL", "use": True}),
+        # Drive "used" flag by including a primitive on each inner layer
+        ("ln1", {"_type": "LINE", "layerId": 15,
+                 "startX": 0, "startY": 0, "endX": 100, "endY": 0, "width": 6}),
+        ("ln2", {"_type": "LINE", "layerId": 16,
+                 "startX": 0, "startY": 0, "endX": 100, "endY": 0, "width": 6}),
+    ])
+    text = write_pcb(d, project_relations=_empty_pr(d))
+    p = parse(text)
+    rows = [r for r in _block(p, "layers")[0][1:] if isinstance(r, list)]
+    cu_layers = [r[1] for r in rows if r[1].endswith(".Cu")]
+    assert cu_layers == ["F.Cu", "In1.Cu", "In2.Cu", "B.Cu"]
+
+
+def test_nets_get_stable_integer_ids_starting_at_1():
+    """KiCad reserves net id 0 for "no net" — our user-defined nets must
+    start at 1 so segments referencing them don't collide with the empty
+    net."""
+    d = _pcb([
+        ('["NET","GND"]', {"_type": "NET"}),
+        ('["NET","VCC"]', {"_type": "NET"}),
+    ])
+    text = write_pcb(d, project_relations=_empty_pr(d))
+    p = parse(text)
+    nets = _block(p, "net")
+    by_name = {n[2]: n[1] for n in nets}
+    assert by_name[""] == 0
+    assert sorted([by_name["GND"], by_name["VCC"]]) == [1, 2]
+
+
+def test_segment_emitted_for_copper_line_with_net():
+    d = _pcb([
+        ('["NET","GND"]', {"_type": "NET"}),
+        ("ln1", {"_type": "LINE", "layerId": 1, "netName": "GND", "width": 6,
+                 "startX": 100, "startY": 200, "endX": 500, "endY": 200}),
+    ])
+    text = write_pcb(d, project_relations=_empty_pr(d), board_origin_mm=(0.0, 0.0))
+    p = parse(text)
+    segs = _block(p, "segment")
+    assert len(segs) == 1
+    seg = segs[0]
+    start = next(c for c in seg if isinstance(c, list) and c[0] == "start")
+    end = next(c for c in seg if isinstance(c, list) and c[0] == "end")
+    assert _close(start[1], 100 * MIL_TO_MM)
+    assert _close(start[2], 200 * MIL_TO_MM)
+    assert _close(end[1], 500 * MIL_TO_MM)
+    layer = next(c for c in seg if isinstance(c, list) and c[0] == "layer")
+    assert layer[1] == "F.Cu"
+    net_ref = next(c for c in seg if isinstance(c, list) and c[0] == "net")
+    assert net_ref[1] >= 1
+
+
+def test_via_emitted_with_size_and_drill():
+    d = _pcb([
+        ('["NET","SIG"]', {"_type": "NET"}),
+        ("v1", {"_type": "VIA", "centerX": 100, "centerY": 200,
+                "viaDiameter": 24, "holeDiameter": 12, "netName": "SIG"}),
+    ])
+    text = write_pcb(d, project_relations=_empty_pr(d), board_origin_mm=(0.0, 0.0))
+    p = parse(text)
+    vias = _block(p, "via")
+    assert len(vias) == 1
+    v = vias[0]
+    at = next(c for c in v if isinstance(c, list) and c[0] == "at")
+    assert _close(at[1], 100 * MIL_TO_MM)
+    size = next(c for c in v if isinstance(c, list) and c[0] == "size")
+    assert _close(size[1], 24 * MIL_TO_MM)
+    drill = next(c for c in v if isinstance(c, list) and c[0] == "drill")
+    assert _close(drill[1], 12 * MIL_TO_MM)
+
+
+def test_outline_poly_emitted_as_edge_cuts_lines():
+    """POLY on layer 11 is the board outline and must convert to
+    (gr_line ... (layer Edge.Cuts)) chains so KiCad recognises the
+    board boundary — without this the board has no Edge.Cuts geometry
+    and DRC reports invalid_outline."""
+    d = _pcb([
+        ("p1", {"_type": "POLY", "layerId": 11, "width": 4,
+                "path": [0, 0, "L", 1000, 0, 1000, 1000, 0, 1000, 0, 0]}),
+    ])
+    text = write_pcb(d, project_relations=_empty_pr(d), board_origin_mm=(0.0, 0.0))
+    p = parse(text)
+    lines = _block(p, "gr_line")
+    assert len(lines) == 4  # square: 4 sides
+    layers = {next(c for c in ln if isinstance(c, list) and c[0] == "layer")[1]
+              for ln in lines}
+    assert layers == {"Edge.Cuts"}
+
+
+def test_zero_length_segment_skipped():
+    d = _pcb([
+        ("ln1", {"_type": "LINE", "layerId": 1, "netName": "GND", "width": 6,
+                 "startX": 5, "startY": 5, "endX": 5, "endY": 5}),
+    ])
+    text = write_pcb(d, project_relations=_empty_pr(d))
+    p = parse(text)
+    assert _block(p, "segment") == []
+    assert getattr(write_pcb, "last_stats").skipped == 1
+
+
+def test_non_pcb_doc_rejected():
+    d = Document(doc_uuid="x", doc_type="SCH_PAGE")
+    try:
+        write_pcb(d)
+    except ValueError:
+        return
+    raise AssertionError("expected ValueError for non-PCB doc")