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melonDS aims at providing fast and accurate Nintendo DS emulation. While it is still a work in progress, it has a pretty solid set of features. Firmware boot (not direct boot) requires a BIOS/firmware dump from an original DS or DS Lite. DS firmwares dumped from a DSi or 3DS aren't bootable and only contain configuration data, thus they are only suitable when booting games directly. DS BIOS dumps from a DSi or 3DS can be used with no compatibility issues.