The Atari brand has been in so many hands, and been used for so many things (including, most recently, NFTs and hotels) that making sense of it all is maddening. Christ Trotter on the atomicpoet Pleroma instance made a fairly lengthy series of posts laying it all out that, to my eyes, is accurate. He may actually know more about their history than I do, although pride makes me loathe to admit it!
The whole thread is useful, but here’s the first post on it, presented as screenshot because WordPress doesn’t yet support embedding that kind of thing directly. I don’t know why it’s so blurry, that seems to be WordPress again.
It’s been known for a while that three classic-era Atari arcade games were produced by HAL for the Famicom and NES: Defender II a.k.a. Stargate, Millipede, and Joust. Nicole Express recently did her typically excellent job discussing them and what makes them interesting. Such as, among other things: they use music that was later reused in NES Punch-Out!!, they are subtly different between their Famicom and NES versions, Satoru Iwata may have personally worked on them, and they were developed as part of Nintendo’s pitch to Atari to have them distribute the NES in the United States.
Something that one might overlook reading the article, however, is the news that this isn’t the only version of Millipede made for the Famicom hardware. As an in-house project at Atari Games/Tengen, Ed Logg himself implemented Millipede for it, before they discovered that the publishing rights in the US resided with the other Atari, the one that got bought by Jack Tramiel.
The source was recently found on a backup tape from Atari, and hand-assembled. The resulting rom file can be downloaded from the AtariAge thread on it. It has no sound, because that hasn’t been implemented yet, the colorful alternate palettes of the arcade version are missing, there are some bugs (I mean program bugs, not enemies), and the DDT Bomb objects hadn’t been put in yet, but a lot of the game is still there. There are even multiplayer modes, supporting up to four players playing alternating or simultaneously! It’s especially interesting since Ed Logg assisted Centipede’s creator Dona Bailey in creating the original game.