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Run the emulation with:
qemu-system-arm -M vexpress-a9 -m 256 -kernel output/images/zImage -dtb output/images/vexpress-v2p-ca9.dtb -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 2.3.0
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