Just last week, I wrote about how pjsip's open source embedded SIP stack and media stack (written in C) was used to power VoIP on the Nintendo DS using the SvSIP client. Well, the pjsip blog now has a post including a Youtube video that shows how it's done. I'll include the video embedded here as well, but go check out the post since it includes overall impressions of the "VoIP on Nintendo DS experience"!
VoIP on the Nintendo DS Video How-To Guide
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You can actually install a homebrew app to the Nintendo DS and set it up as an extension on your Asterisk server. I just did this last week, and it works wonderfully. I have a tutorial up at my site, mikedepalma.com that includes audio quality samples and a video.
It's pretty easy to do, but at the moment you cannot make calls to the DS; only outbound to an extension or another outside phone.