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

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Run the emulation with:
qemu-system-arm -M versatilepb -kernel output/images/zImage -dtb output/images/versatile-pb.dtb -drive file=output/images/rootfs.ext2,if=scsi,format=raw -append "rootwait root=/dev/sda console=ttyAMA0,115200" -serial stdio -net nic,model=rtl8139 -net user # qemu_arm_versatile_defconfig
Or for the noMMU emulation:
qemu-system-arm -M versatilepb -kernel output/images/zImage -dtb output/images/versatile-pb.dtb -append "console=ttyAMA0,115200" -serial stdio -net user -net nic,model=smc91c111 # qemu_arm_versatile_nommu_defconfig
The login prompt will appear in the terminal that started Qemu. The
graphical window is the framebuffer.