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path: root/src/mame/drivers/spg29x.cpp
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// license:BSD-3-Clause
// copyright-holders:Sandro Ronco
/***************************************************************************

        Mattel HyperScan

        08/17/2013 Skeleton driver by Sandro Ronco

        HyperScan TODO:
        - Various graphics glitches
        - Sound
        - X-Men hangs after the first match
        - USB

        Hyperscan has a hidden test menu that can be accessed with a specific inputs sequence:
        - During boot press and hold Select + Left Shoulder + Green until 'PLEASE WAIT' is shown on the screen
        - Press and release Red, Red, Green, Green, Yellow, Blue

****************************************************************************

        SPG290 Interrupt:

        Vector      Source
          63        SPU FIQ
          62        SPU Beatirq
          61        SPU Envirq
          60        CD servo
          59        ADC gain overflow / ADC recorder / FIFO overflow
          58        General purpose ADC
          57        Timer base
          56        Timer
          55        TV vblanking start
          54        LCD vblanking start
          53        PPU vblanking start
          52        TV
          51        Sensor frame end
          50        Sensor coordinate hit
          49        Sensor motion frame end
          48        Sensor capture done + sensor debug IRQ
          47        TV coordinate hit
          46        PPU coordinate hit
          45        USB host+device
          44        SIO
          43        SPI
          42        Uart (IrDA)
          41        NAND
          40        SD
          39        I2C master
          38        I2S slave
          37        APBDMA CH1
          36        APBDMA CH2
          35        LDM_DMA
          34        BLN_DMA
          33        APBDMA CH3
          32        APBDMA CH4
          31        Alarm + HMS
          30        MP4
          29        C3 (ECC module)
          28        GPIO
          27        Bufctl (for debug) + TV/PPU vblanking end (for debug)
          26        RESERVED1
          25        RESERVED2
          24        RESERVED3


-------

        CPU die markings on Big Buck Hunter "SunplusmM LU9001"


****************************************************************************/

#include "emu.h"
#include "cpu/score/score.h"
#include "machine/spg290_cdservo.h"
#include "machine/spg290_i2c.h"
#include "machine/spg290_ppu.h"
#include "machine/spg290_timer.h"
#include "machine/hyperscan_card.h"
#include "machine/hyperscan_ctrl.h"
#include "screen.h"
#include "softlist_dev.h"



class spg29x_game_state : public driver_device
{
public:
	spg29x_game_state(const machine_config &mconfig, device_type type, const char *tag) :
		driver_device(mconfig, type, tag),
		m_maincpu(*this, "maincpu"),
		m_screen(*this, "screen"),
		m_ppu(*this, "ppu"),
		m_i2c(*this, "i2c"),
		m_timers(*this, "timer%u", 0U),
		m_hyperscan_card(*this, "card"),
		m_hyperscan_ctrl(*this, "ctrl%u", 0U),
		m_leds(*this, "led%u", 0U)
	{ }

	void spg29x(machine_config &config);
	void hyperscan(machine_config &config);

protected:
	virtual void machine_reset() override;

	required_device<score7_cpu_device> m_maincpu;
private:

	virtual void machine_start() override;

	uint32_t spg290_screen_update(screen_device &screen, bitmap_rgb32 &bitmap, const rectangle &cliprect);

	void spg290_mem(address_map &map);
	void spg290_bios_mem(address_map &map);

	void space_byte_w(offs_t offset, uint8_t data) { return m_maincpu->space(AS_PROGRAM).write_byte(offset, data); }
	uint32_t space_dword_r(offs_t offset)          { return m_maincpu->space(AS_PROGRAM).read_dword(offset); }

	uint16_t i2c_r(offs_t offset);

	required_device<screen_device> m_screen;
	required_device<spg290_ppu_device> m_ppu;
	required_device<spg290_i2c_device> m_i2c;
	required_device_array<spg290_timer_device, 6> m_timers;
	optional_device<hyperscan_card_device> m_hyperscan_card;
	optional_device_array<hyperscan_ctrl_device, 2> m_hyperscan_ctrl;
	output_finder<8> m_leds;

	void tve_control_w(offs_t offset, uint32_t data, uint32_t mem_mask);
	void gpio_out_w(offs_t offset, uint32_t data, uint32_t mem_mask);
	void timers_clk_sel_w(offs_t offset, uint32_t data, uint32_t mem_mask);

	uint16_t m_tve_control;
	uint8_t  m_tve_fade_offset;
	uint16_t m_gpio_out;
};

class spg29x_nand_game_state : public spg29x_game_state
{
public:
	spg29x_nand_game_state(const machine_config& mconfig, device_type type, const char* tag) :
		spg29x_game_state(mconfig, type, tag)
	{ }

	void nand_init(int blocksize, int blocksize_stripped);
	void nand_jak_bbh();
	void nand_jak_bbsf();

protected:
	void machine_reset() override;

private:
	std::vector<uint8_t> m_strippedrom;
	int m_firstvector;
};

class spg29x_zone3d_game_state : public spg29x_game_state
{
public:
	spg29x_zone3d_game_state(const machine_config& mconfig, device_type type, const char* tag) :
		spg29x_game_state(mconfig, type, tag)
	{ }

	void init_zone3d();

protected:
	void machine_reset() override;

private:
};





void spg29x_game_state::timers_clk_sel_w(offs_t offset, uint32_t data, uint32_t mem_mask)
{
	auto clock = 27_MHz_XTAL / ((data & 0xff) + 1);

	uint32_t mask = 0x100;
	for(int i=0; i<m_timers.size(); i++)
	{
		if (data & mask)
			m_timers[i]->set_clock(32.768_kHz_XTAL);
		else
			m_timers[i]->set_clock(clock);

		mask <<= 1;
	}
}

void spg29x_game_state::tve_control_w(offs_t offset, uint32_t data, uint32_t mem_mask)
{
	COMBINE_DATA(&m_tve_control);
	rectangle visarea;
	switch(m_tve_control & 0xc)
	{
	case 0x0: // QVGA
		visarea.set(0, 320-1, 0, 240-1);
		break;
	case 0x4: // VGA
		visarea.set(0, 640-1, 0, 480-1);
		break;
	case 0x8: // HVGA
		visarea.set(0, 640-1, 0, 240-1);
		break;
	}

	int interlaced = m_tve_control & 1;
	if (m_tve_control & 2)
		m_screen->configure(864, 625, visarea, HZ_TO_ATTOSECONDS(27_MHz_XTAL) * 864 * 625 * (interlaced ? 2 : 1));      // PAL
	else
		m_screen->configure(858, 525, visarea, HZ_TO_ATTOSECONDS(27_MHz_XTAL) * 858 * 525 * (interlaced ? 2 : 1));      // NTSC
}

void spg29x_game_state::gpio_out_w(offs_t offset, uint32_t data, uint32_t mem_mask)
{
	COMBINE_DATA(&m_gpio_out);

	if (ACCESSING_BITS_0_7)
		m_hyperscan_card->write(BIT(m_gpio_out,1));

	for(int i=0; i<8; i++)
		m_leds[i] = BIT(m_gpio_out, 5 + i);
}

uint16_t spg29x_game_state::i2c_r(offs_t offset)
{
	int port = (offset >> 4) & 0x0f;

	if (port < 2)
		return m_hyperscan_ctrl[port]->read(offset);

	return 0xffff;
}

uint32_t spg29x_game_state::spg290_screen_update(screen_device &screen, bitmap_rgb32 &bitmap, const rectangle &cliprect)
{
	m_ppu->screen_update(screen, bitmap, cliprect);

	if (m_tve_fade_offset)
	{
		int fade_offset = 255 - m_tve_fade_offset;
		for (int y=0; y <= cliprect.max_y; y++)
			for (int x=0; x <= cliprect.max_x; x++)
			{
				auto pix = rgb_t(bitmap.pix32(y, x));
				bitmap.pix32(y, x) = rgb_t(pix.r() * fade_offset / 255, pix.g() * fade_offset / 255, pix.b() * fade_offset / 255);
			}
	}

	return 0;
}

void spg29x_game_state::spg290_mem(address_map &map)
{
	map.global_mask(0x1fffffff);
	map(0x00000000, 0x00ffffff).ram().mirror(0x07000000);

	map(0x08030000, 0x08030003).w(FUNC(spg29x_game_state::tve_control_w)).lr32(NAME([this](uint32_t data) { return m_tve_control; }));
	map(0x0803000c, 0x0803000f).lw32(NAME([this](uint32_t data) { m_tve_fade_offset = data & 0xff; }));
	map(0x0807006c, 0x0807006f).lr32(NAME([]() { return 0x01;}));               // MUI Status: SDRAM is in the self-refresh mode
	//map(0x08150000, 0x08150000).lw8(NAME([this](uint8_t data) { printf("%c", data); })); // UART
	map(0x082100e4, 0x082100e7).w(FUNC(spg29x_game_state::timers_clk_sel_w));       // Timer Source Clock Selection
	map(0x08240000, 0x0824000f).noprw();

	//map(0x08000000, 0x0800ffff);  // CSI
	map(0x08010000, 0x0801ffff).m("ppu", FUNC(spg290_ppu_device::map));
	//map(0x08020000, 0x0802ffff);  // JPG
	//map(0x08030000, 0x0803ffff);  // TV
	//map(0x08040000, 0x0804ffff);  // LCD
	//map(0x08050000, 0x0805ffff);  // SPU
	map(0x08060000, 0x0806ffff).rw("cdservo", FUNC(spg290_cdservo_device::read), FUNC(spg290_cdservo_device::write));
	//map(0x08070000, 0x0807ffff);  // MIU
	//map(0x08080000, 0x0808ffff);  // APBDMA
	//map(0x08090000, 0x0809ffff);  // BUFCTL
	//map(0x080a0000, 0x080affff);  // IRQCTL
	//map(0x080b0000, 0x080bffff);  // GPUBUF
	//map(0x080c0000, 0x080cffff);  // LDMDMA
	//map(0x080d0000, 0x080dffff);  // BLNDMA
	//map(0x080e0000, 0x080effff);  // TPGBUF
	//map(0x080f0000, 0x080fffff);  // AHBDEC
	//map(0x08100000, 0x0810ffff);  // GPIO
	//map(0x08110000, 0x0811ffff);  // SPI
	//map(0x08120000, 0x0812ffff);  // SIO
	map(0x08130000, 0x0813ffff).rw("i2c", FUNC(spg290_i2c_device::read), FUNC(spg290_i2c_device::write));
	//map(0x08140000, 0x0814ffff);  // I2S
	//map(0x08150000, 0x0815ffff);  // UART
	map(0x08160000, 0x08160fff).rw(m_timers[0], FUNC(spg290_timer_device::read), FUNC(spg290_timer_device::write));
	map(0x08161000, 0x08161fff).rw(m_timers[1], FUNC(spg290_timer_device::read), FUNC(spg290_timer_device::write));
	map(0x08162000, 0x08162fff).rw(m_timers[2], FUNC(spg290_timer_device::read), FUNC(spg290_timer_device::write));
	map(0x08163000, 0x08163fff).rw(m_timers[3], FUNC(spg290_timer_device::read), FUNC(spg290_timer_device::write));
	map(0x08164000, 0x08164fff).rw(m_timers[4], FUNC(spg290_timer_device::read), FUNC(spg290_timer_device::write));
	map(0x08165000, 0x08165fff).rw(m_timers[5], FUNC(spg290_timer_device::read), FUNC(spg290_timer_device::write));
	//map(0x08166000, 0x08166fff);  // RTC
	//map(0x08170000, 0x0817ffff);  // WDOG
	//map(0x08180000, 0x0818ffff);  // SD
	//map(0x08190000, 0x0819ffff);  // FLASH
	//map(0x081a0000, 0x081affff);  // ADC
	//map(0x081b0000, 0x081bffff);  // USB device
	//map(0x081c0000, 0x081cffff);  // USB host
	//map(0x081d0000, 0x081dffff);  // reserved
	//map(0x081e0000, 0x081effff);  // Reserved
	//map(0x081f0000, 0x081fffff);  // reserved
	//map(0x08200000, 0x0820ffff);  // SFTCFG
	//map(0x08210000, 0x0821ffff);  // CKG
	map(0x0821006c, 0x0821006f).w(m_timers[0], FUNC(spg290_timer_device::control_w));
	map(0x08210070, 0x08210073).w(m_timers[1], FUNC(spg290_timer_device::control_w));
	map(0x08210074, 0x08210077).w(m_timers[2], FUNC(spg290_timer_device::control_w));
	map(0x08210078, 0x0821007b).w(m_timers[3], FUNC(spg290_timer_device::control_w));
	map(0x0821007c, 0x0821007f).w(m_timers[4], FUNC(spg290_timer_device::control_w));
	map(0x08210080, 0x08210083).w(m_timers[5], FUNC(spg290_timer_device::control_w));
	//map(0x08220000, 0x0822ffff);  // MP4
	//map(0x08230000, 0x0823ffff);  // MIU2
	//map(0x08240000, 0x0824ffff);  // ECC

	map(0x0a000000, 0x0a003fff).ram();                         // internal SRAM
	map(0x0b000000, 0x0b007fff).rom().region("spg290", 0);  // internal ROM
}

void spg29x_game_state::spg290_bios_mem(address_map& map)
{
	spg290_mem(map);
	map(0x08200024, 0x08200027).w(FUNC(spg29x_game_state::gpio_out_w)).lr32(NAME([this]() { return m_gpio_out; }));
	map(0x08200068, 0x0820006b).lr32(NAME([this]() { return m_hyperscan_card->read(); }));
	map(0x10000000, 0x100fffff).rom().region("bios", 0).mirror(0x0ff00000);
}

/* Input ports */
static INPUT_PORTS_START( hyperscan )
INPUT_PORTS_END


void spg29x_game_state::machine_start()
{
	m_leds.resolve();

	save_item(NAME(m_tve_control));
	save_item(NAME(m_tve_fade_offset));
	save_item(NAME(m_gpio_out));
}

void spg29x_game_state::machine_reset()
{
	m_tve_control = 0;
	m_tve_fade_offset = 0;
	m_gpio_out = 0;

	// disable JTAG
	m_maincpu->set_state_int(SCORE_CR + 29, 0x20000000);
}

void spg29x_nand_game_state::machine_reset()
{
	spg29x_game_state::machine_reset();

	uint32_t bootstrap_ram_start = (m_strippedrom[m_firstvector+0] << 0) | (m_strippedrom[m_firstvector+1] << 8) | (m_strippedrom[m_firstvector+2] << 16) | (m_strippedrom[m_firstvector+3] << 24);
	uint32_t bootstrap_ram_end   = (m_strippedrom[m_firstvector+4] << 0) | (m_strippedrom[m_firstvector+5] << 8) | (m_strippedrom[m_firstvector+6] << 16) | (m_strippedrom[m_firstvector+7] << 24);
	uint32_t bootstrap_ram_boot  = (m_strippedrom[m_firstvector+8] << 0) | (m_strippedrom[m_firstvector+9] << 8) | (m_strippedrom[m_firstvector+10] << 16) | (m_strippedrom[m_firstvector+11] << 24);

	// there is a 0x01 at 0x26, possibly related to source location / block in NAND to copy from?

	logerror("NAND Bootstrap RAM start: %08x RAM end: %08x RAM boot: %08x", bootstrap_ram_start, bootstrap_ram_end, bootstrap_ram_boot);

	uint32_t sourceaddr = 0x10000;
	for (uint32_t addr = bootstrap_ram_start; addr <= bootstrap_ram_end; addr++)
	{
		address_space& mem = m_maincpu->space(AS_PROGRAM);
		uint8_t byte = m_strippedrom[sourceaddr];
		mem.write_byte(addr, byte);
		sourceaddr++;
	}

	// probably jumped to from internal ROM?
	m_maincpu->set_state_int(SCORE_PC, bootstrap_ram_boot);
}


void spg29x_zone3d_game_state::machine_reset()
{
	spg29x_game_state::machine_reset();

	uint8_t* rom = memregion("spi")->base();
	int size = memregion("spi")->bytes();

	uint32_t destaddr = 0x1dc;
	for (uint32_t addr = 0; addr < size; addr++)
	{
		address_space& mem = m_maincpu->space(AS_PROGRAM);
		uint8_t byte = rom[addr];
		mem.write_byte(addr+destaddr, byte);
	}

	m_maincpu->set_state_int(SCORE_PC, 0x1000);
}


void spg29x_game_state::spg29x(machine_config &config)
{
	/* basic machine hardware */
	SCORE7(config, m_maincpu, 27_MHz_XTAL * 4);   // 108MHz S+core 7
	m_maincpu->set_addrmap(AS_PROGRAM, &spg29x_game_state::spg290_mem);

	/* video hardware */
	SCREEN(config, m_screen, SCREEN_TYPE_RASTER);
	m_screen->set_raw(27_MHz_XTAL, 858, 0, 640, 525, 0, 480);
	m_screen->set_screen_update(FUNC(spg29x_game_state::spg290_screen_update));
	m_screen->screen_vblank().set(m_ppu, FUNC(spg290_ppu_device::screen_vblank));

	for (int i=0; i<6; i++)
	{
		SPG290_TIMER(config, m_timers[i], 27_MHz_XTAL);
		m_timers[i]->irq_cb().set_inputline(m_maincpu, 56);
	}

	SPG290_PPU(config, m_ppu, 27_MHz_XTAL, m_screen);
	m_ppu->vblank_irq_cb().set_inputline(m_maincpu, 53);
	m_ppu->space_read_cb().set(FUNC(spg29x_game_state::space_dword_r));

	spg290_cdservo_device &cdservo(SPG290_CDSERVO(config, "cdservo", 27_MHz_XTAL, "cdrom"));
	cdservo.irq_cb().set_inputline(m_maincpu, 60);
	cdservo.space_write_cb().set(FUNC(spg29x_game_state::space_byte_w));

	SPG290_I2C(config, m_i2c, 27_MHz_XTAL);
	m_i2c->irq_cb().set_inputline(m_maincpu, 39);
}

void spg29x_game_state::hyperscan(machine_config &config)
{
	spg29x(config);
	m_maincpu->set_addrmap(AS_PROGRAM, &spg29x_game_state::spg290_bios_mem);

	m_i2c->i2c_read_cb().set(FUNC(spg29x_game_state::i2c_r));

	CDROM(config, "cdrom").set_interface("cdrom");

	HYPERSCAN_CTRL(config, m_hyperscan_ctrl[0], 0);
	HYPERSCAN_CTRL(config, m_hyperscan_ctrl[1], 0);

	HYPERSCAN_CARD(config, m_hyperscan_card, 0);

	SOFTWARE_LIST(config, "cd_list").set_original("hyperscan");
	SOFTWARE_LIST(config, "card_list").set_original("hyperscan_card");
}

void spg29x_nand_game_state::nand_init(int blocksize, int blocksize_stripped)
{
	uint8_t* rom = memregion("nand")->base();
	int size = memregion("nand")->bytes();

	int numblocks = size / blocksize;

	m_strippedrom.resize(numblocks * blocksize_stripped);

	for (int i = 0; i < numblocks; i++)
	{
		const int base = i * blocksize;
		const int basestripped = i * blocksize_stripped;

		for (int j = 0; j < blocksize_stripped; j++)
		{
			m_strippedrom[basestripped + j] = rom[base + j];
		}
	}

	// debug to allow for easy use of unidasm.exe
	if (0)
	{
		FILE *fp;
		char filename[256];
		sprintf(filename,"stripped_%s", machine().system().name);
		fp=fopen(filename, "w+b");
		if (fp)
		{
			fwrite(&m_strippedrom[0], blocksize_stripped * numblocks, 1, fp);
			fclose(fp);
		}
	}
}

void spg29x_nand_game_state::nand_jak_bbh()
{
	nand_init(0x210, 0x200);
	m_firstvector = 0xc;
}

void spg29x_nand_game_state::nand_jak_bbsf()
{
	nand_init(0x210, 0x200);
	m_firstvector = 0x8;
}

void spg29x_zone3d_game_state::init_zone3d()
{

}


/* ROM definition */
ROM_START( hyprscan )
	ROM_REGION( 0x100000, "bios", ROMREGION_32BIT | ROMREGION_LE )
	ROM_LOAD32_DWORD("hyperscan.bin", 0x000000, 0x100000, CRC(ce346a14) SHA1(560cb747e7193e6781d4b8b0bd4d7b45d3d28690))

	ROM_REGION( 0x008000, "spg290", ROMREGION_32BIT | ROMREGION_LE )
	ROM_LOAD32_DWORD("spg290.bin", 0x000000, 0x008000, NO_DUMP)     // 256Kbit SPG290 internal ROM
ROM_END


ROM_START( jak_bbh )
	ROM_REGION( 0x4200000, "nand", 0 ) // ID returned C25A, read as what appears to be a compatible type.
	ROM_LOAD("bigbuckhunterpro_as_hy27us0812a_c25a.bin", 0x000000, 0x4200000, CRC(e2627540) SHA1(c8c6e5fbc4084fa695390bbb4e1e52e671f050da) )

	ROM_REGION( 0x008000, "spg290", ROMREGION_32BIT | ROMREGION_LE )
	ROM_LOAD32_DWORD("internal.rom", 0x000000, 0x008000, NO_DUMP)
ROM_END


ROM_START( jak_bbsf )
	ROM_REGION( 0x4200000, "nand", 0 )
	ROM_LOAD("bigbucksafari.bin", 0x000000, 0x4200000, CRC(dc5f9bf1) SHA1(27893c396d62f353ced52ef88fd9ade5c051598f) )

	ROM_REGION( 0x008000, "spg290", ROMREGION_32BIT | ROMREGION_LE )
	ROM_LOAD32_DWORD("internal.rom", 0x000000, 0x008000, NO_DUMP)
ROM_END

ROM_START( zone3d )
	ROM_REGION( 0x100000, "spi", 0 )
	ROM_LOAD("zone_25l8006e_c22014.bin", 0x000000, 0x100000, CRC(8c571771) SHA1(cdb46850286d31bf58d45b75ffc396ed774ac4fd) )

	/*
	model: Lexar SD
	revision: LX01
	serial number: 00000000XL10

	size: 362.00 MiB (741376 sectors * 512 bytes)
	unk1: 0000000000000007
	unk2: 00000000000000fa
	unk3: 01
	
	The SD card has no label, but there's some printing on the back:
	MMAGF0380M3085-WY
	TC00201106 by Taiwan

	--
	Dumped with hardware write blocker, so this image is correct, and hasn't been corrupted by Windows
	
	Image contains a FAT filesystem with a number of compressed? programs that presumably get loaded into RAM by
	the bootloader in the serial flash ROM
	*/

	DISK_REGION( "cfcard" )
	DISK_IMAGE( "zone3d", 0, SHA1(77971e2dbfb2ceac12f482d72539c2e042fd9108) )
	
	ROM_REGION( 0x008000, "spg290", ROMREGION_32BIT | ROMREGION_LE )
	ROM_LOAD32_DWORD("internal.rom", 0x000000, 0x008000, NO_DUMP)
ROM_END


/* Driver */

//    YEAR  NAME  PARENT  COMPAT  MACHINE    INPUT      CLASS            INIT        COMPANY   FULLNAME     FLAGS
COMP( 2006, hyprscan,   0,      0,      hyperscan, hyperscan, spg29x_game_state, empty_init, "Mattel", "HyperScan", MACHINE_NOT_WORKING | MACHINE_NO_SOUND )

// There were 1 player and 2 player versions for these JAKKS guns.  The 2nd gun appears to be simply a controller (no AV connectors) but as they were separate products with the 2 player verisons being released up to a year after the original, the code could differ.
// If they differ, it is currently uncertain which versions these ROMs are from
COMP( 2009, jak_bbh,    0,      0,      spg29x, hyperscan, spg29x_nand_game_state, nand_jak_bbh, "JAKKS Pacific Inc", "Big Buck Hunter Pro (JAKKS Pacific TV Game)", MACHINE_NOT_WORKING | MACHINE_NO_SOUND ) //has ISSI 404A (24C04)
COMP( 2011, jak_bbsf,   0,      0,      spg29x, hyperscan, spg29x_nand_game_state, nand_jak_bbsf,"JAKKS Pacific Inc", "Big Buck Safari (JAKKS Pacific TV Game)", MACHINE_NOT_WORKING | MACHINE_NO_SOUND ) // has ISSI 416A (24C16)

// ends up doing the fllowing, which causes a jump to 0xbf000024, where we have nothing mapped (internal ROM related, or thinks it's loaded code there?  This is the area Hyperscan uses as 'BIOS' not Internal ROM so could be RAM here)
// 000011D4: ldis r8, 0xbf00
// 000011D8: ori r8, 0x0024
// 000011DC: br r8
COMP( 201?, zone3d,    0,      0,      spg29x, hyperscan, spg29x_zone3d_game_state, init_zone3d,"Zone", "Zone 3D", MACHINE_NOT_WORKING | MACHINE_NO_SOUND )