contiki/qemu/README.qemu.mc1322x

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apt-get source qemu
use these files in place of those in the qemu tree
Build qemu
./configure --target-list=arm-softmmu
make
Run with
arm-softmmu/qemu-system-arm -S -M mc1322x -nographic \
foo
which will load rom.img at 0x00000000 and ram.img at
0x00400000 --- execution will start at 0x00400000 (type c).
I'll be adding command line options for those images soon.
Debug with gdb:
Build gdb for an arm target:
apt-get source gdb
./configure --target=arm-linux
make
./gdb
(gdb) target remote localhost:1234