Nintendo have posted their annual sales report, below are the official worldwide numbers.
DS Hardware: 6.65 million units
DS Software: 15.82 million units

GCN Hardware: 18.76 million units
GCN Software: 160.60 million units

GBA/GBA SP Hardware: 67.77 million units
GBA Software: 280.03 million units

Total Hardware: more than 354 million units
Total Software: more than 2 billion units