Beagleboard is Not BeagleBone, 这篇文章的对象是 beagleboard, 不是 beaglebone。
安装qemu-system-arm
首先需要说明的是：使用sudo apt-get install安装后的qemu-system-arm是不支持beagle板的。
因此我们需要自己编译qemu-linaro源码。在此之前一定要卸载你系统中已有的qemu，运行：
$ sudo apt-get purge qemu*编译qemu-linaro源码:
$ git clone git://git.linaro.org/qemu/qemu-linaro.git
$ cd qemu-linaro
$ sudo apt-get install zlib1g-dev
$ sudo apt-get install libglib2.0-dev
$ ./configure --prefix=/usr/bin
$ make
$ sudo make install安装zlib1g-dev 和 libglib-2.0-dev 是因为编译过程中会用到。安装完成后可运行以下命令查看qemu支持的板子：
$ qemu-system-arm -machine help
Supported machines are:
akita Akita PDA (PXA270)
beagle Beagle board (OMAP3530)
beaglexm Beagle board XM (OMAP3630)
...
realview-pb-a8 ARM RealView Platform Baseboard for Cortex-A8
realview-pbx-a9 ARM RealView Platform Baseboard Explore for Cortex-A9
smdkc210 Samsung SMDKC210 board (Exynos4210)
...
xilinx-zynq-a9 Xilinx Zynq Platform Baseboard for Cortex-A9
z2 Zipit Z2 (PXA27x)
可以看到，编译好的支持beagle和beaglexm板。
安装linaro-image-tools工具
首先是在Ubuntu上添加apt-get的源，然后安装linaro-image-tools工具，命令如下：
sudo add-apt-repository ppa:linaro-maintainers/tools
sudo apt-get update
sudo apt-get install linaro-image-tools下载omap3硬件包并生成beagle_sd.img文件
一共两个文件，nano-n-tar-20110823-1.tar.gz，hwpack_linaro-omap3_20110823-0_armel_supported.tar.gz。
下载地址分别为：
http://download.csdn.net/detail/gzj2013/9910966
http://download.csdn.net/detail/gzj2013/9910994
将下载好的两个文件复制到一个目录后进行以下操作：
$ sudo linaro-media-create --image_file beagle_sd.img --dev beagle --binary nano-n-tar-20110823-1.tar.gz --hwpack hwpack_linaro-omap3_20110823-0_armel_supported.tar.gz注意其中的–是两个横线，有些网页显示出来会变成中文的破折号，会导致命令执行失败。
提示一路按Y，最后出现以下提示信息就说明镜像文件创建成功。
Image Name: Linux
Created: Wed Jul 26 11:01:25 2017
Image Type: ARM Linux Kernel Image (uncompressed)
Data Size: 3836224 Bytes = 3746.31 kB = 3.66 MB
Load Address: 80008000
Entry Point: 80008000
Image Name: initramfs
Created: Wed Jul 26 11:01:25 2017
Image Type: ARM Linux RAMDisk Image (uncompressed)
Data Size: 1861231 Bytes = 1817.61 kB = 1.78 MB
Load Address: 00000000
Entry Point: 00000000
Image Name: boot script
Created: Wed Jul 26 11:01:25 2017
Image Type: ARM Linux Script (uncompressed)
Data Size: 444 Bytes = 0.43 kB = 0.00 MB
Load Address: 00000000
Entry Point: 00000000
Contents:
Image 0: 436 Bytes = 0.43 kB = 0.00 MB
'/tmp/tmpXQb9tt/boot-disc/boot.scr' -> '/tmp/tmpXQb9tt/boot-disc/boot.ini'
Populating rootfs partition
Be patient, this may take a few minutes
Creating /etc/flash-kernel.conf
Updating /etc/network/interfaces
Done creating Linaro image on beagle_sd.imgqemu启动系统
生成beagle_sd.img文件后通过一下命令启动qemu
sudo qemu-system-arm -M beaglexm -m 512 -sd ./beagle_sd.img -clock unix -serial stdio
执行后出现qemu模拟窗口，开始显示系统启动过程，同时执行命令的窗口也开始显示系统控制台输出，启动过程需要等待一段时间，需要耐心一点。
Texas Instruments X-Loader 1.5.1 (Jul 26 2011 - 00:39:12)
Beagle Rev C4
Reading boot sector
Loading u-boot.bin from mmc
U-Boot 2011.06 (Aug 19 2011 - 17:43:34)
OMAP35XX-GP ES3.1, CPU-OPP2, L3-165MHz, Max CPU Clock 600 mHz
OMAP3 Beagle board + LPDDR/NAND
I2C: ready
DRAM: 256 MiB
NAND: 256 MiB
MMC: OMAP SD/MMC: 0
*** Warning - bad CRC, using default environment
ERROR : Unsupport USB mode
Check that mini-B USB cable is attached to the device
In: serial
Out: serial
Err: serial
Beagle Rev C4
No EEPROM on expansion board
Die ID #51454d5551454d555400000051454d55
Hit any key to stop autoboot: 0
SD/MMC found on device 0
reading boot.scr
508 bytes read
Running bootscript from mmc ...
## Executing script at 82000000
reading uImage
3836288 bytes read
reading uInitrd
1861295 bytes read
reading board.dtb
316 bytes read
## Booting kernel from Legacy Image at 80000000 ...
Image Name: Linux
Image Type: ARM Linux Kernel Image (uncompressed)
Data Size: 3836224 Bytes = 3.7 MiB
Load Address: 80008000
Entry Point: 80008000
Verifying Checksum ... OK
## Loading init Ramdisk from Legacy Image at 81600000 ...
Image Name: initramfs
Image Type: ARM Linux RAMDisk Image (uncompressed)
Data Size: 1861231 Bytes = 1.8 MiB
Load Address: 00000000
Entry Point: 00000000
Verifying Checksum ... OK
## Flattened Device Tree blob at 815f0000
Booting using the fdt blob at 0x815f0000
Loading Kernel Image ... OK
OK
Using Device Tree in place at 815f0000, end 815f313b
Starting kernel ...
Uncompressing Linux... done, booting the kernel
...
Begin: Running /scripts/init-bottom ... done.
fsck from util-linux-ng 2.17.2
rootfs: clean, 7353/193536 files, 60254/773120 blocks
Welcome to Linaro 11.08 (GNU/Linux 3.0.0-1004-linaro-omap armv7l)
* Documentation: https://wiki.linaro.org/
The programs included with the Linaro system are free software;
the exact distribution terms for each program are described in the
individual files in /usr/share/doc/*/copyright.
Linaro comes with ABSOLUTELY NO WARRANTY, to the extent permitted by
applicable law.
root@linaro-nano:~#
root@linaro-nano:~#至此，系统启动完成，启动完成后可以通过cat /proc/cpuinfo命令查看CPU信息， 当然你也可以测试其它linux命令
使用 qemu 调试linux驱动
至此，beagle的qemu仿真环境已经搭建完毕，那么如何使用这个环境来进行linux驱动开发呢？
$ sudo losetup /dev/loop0 ./beagle_sd.img
$ sudo fdisk -l /dev/loop0
Device Boot Start End Blocks Id System
/dev/loop0p1 * 63 106494 53216 c W95 FAT32 (LBA)
/dev/loop0p2 106496 6291455 3092480 83 Linux
$ mkdir tmp/
$ sudo mount -o loop,offset=$[63*512] ./beagle_sd.img ./mountpoint
$ ls
board.dtb boot.ini boot.scr boot.txt MLO u-boot.bin uImage uInitrd
$ sudo mount -o loop,offset=$[106496*512] /dev/loop0 tmp/
$ cd tmp
$ ls
bin etc lib media proc selinux tmp vmlinuz
boot home lost+found mnt root srv usr
dev initrd.img md5sum.txt opt sbin sys var
$ sudo losetup -d /dev/loop0此时，我们可以将已经编译好的驱动模块文件复制到该目录下，重新启动qemu系统就可以使用insmod加载该驱动模块了。
注意：
uImage要根据你的驱动所使用的内核版本来替换，一般只需将uImage替换即可。
几点说明
因为网上有其他一些资料使用的是一些linaro中比较新的版本，但是推荐使用的linaro-media-create的版本却是很旧，我尝试过linaro-image-tools-0.4.8.tar.gz版本来生成beagle_sd.img文件，结果很多脚本文件执行就会出错。
参考博客：
http://www.cnx-software.com/2011/09/26/beagleboard-emulator-in-ubuntu-with-qemu/
http://shortcircuits.io/uefi-with-beagleboard-using-qemu.html