iDeaS, the DS emulator for the PC, has just been updated to v1.0.0.6. Another huge update from the iDeaS team, here are the changes:

Added Video, Audio and 3D Plugin System (VERY primitive, ask before developing anything!)
Corrected some DSP ARM9 errors
Added swi9 in ARM9 BIOS
Corrected some errors in extended palettes' management
Corrected an error in sprite drawing routines
Corrected some errors in Mode 3, 4, 5
Added Texture Modes 3, 4, 5
Corrected some errors in 3D FiFo management
Optimized texture management
Bug Fixes in TouchScreen management
Bug fixes in firmware emulation
Note that the newest Touchscreen code has been not implemented, as it messed up big time. Gotta wait some more time, pals... as usual, read the included readme for further details.