kumquat-buildroot/board/qemu/arm-vexpress/readme.txt

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Run the emulation with:
qemu-system-arm -M vexpress-a9 -kernel output/images/zImage -drive file=output/images/rootfs.ext2,if=sd -append "console=ttyAMA0,115200 root=/dev/mmcblk0" -serial stdio -net nic,model=lan9118 -net user
The login prompt will appear in the terminal that started Qemu. The
graphical window is the framebuffer.
Tested with QEMU 1.2.0