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1. Compile QEMU 2.9.0 from source:

   sudo apt-get build-dep qemu-system-arm git clone --recursive git://git.qemu-project.org/qemu.git cd qemu git checkout v2.9.0 ./configure make `nproc` 

2. Download image and extract the kernel and dts from it:

   1. Download the image and unzip it:

      wget http://downloads.raspberrypi.org/raspbian/images/raspbian-2016-05-31/2016-05-27-raspbian-jessie.zip unzip 2016-05-27-raspbian-jessie.zip 

   2. Mount the second image of the partition. The easiest way is:

      sudo losetup -f --show -P 2016-05-27-raspbian-jessie.img 

      This only works with latest losetup on Ubuntu 16.04, other methods at: https://askubuntu.com/questions/69363/mount-single-partition-from-image-of-entire-disk-device/496576#496576

      This prints a loop device, e.g.:

      /dev/loop0 

      so we do:

      sudo mkdir /mnt/rpi sudo mount /dev/loop0p1 /mnt/rpi cp /mnt/rpi/kernel7.img bcm2709-rpi-2-b.dtb . sudo umount /mnt/rpi sudo losetup -d /dev/loop0 

3. Run:

   ./arm-softmmu/qemu-system-arm \ -M raspi2 \ -append "rw earlyprintk loglevel=8 console=ttyAMA0,115200 dwc_otg.lpm_enable=0 root=/dev/mmcblk0p2" \ -cpu arm1176 \ -dtb bcm2709-rpi-2-b.dtb \ -sd 2016-05-27-raspbian-jessie.img \ -kernel kernel7.img \ -m 1G \ -smp 4 \ -serial stdio \ ; 

1. Compile QEMU 2.9.0 from source:

   sudo apt-get build-dep qemu-system-arm git clone --recursive git://git.qemu-project.org/qemu.git cd qemu git checkout v2.9.0 ./configure make `nproc` 

2. Download image and extract the kernel and dts from it:

   1. Download the image and unzip it:

      wget http://downloads.raspberrypi.org/raspbian/images/raspbian-2016-05-31/2016-05-27-raspbian-jessie.zip unzip 2016-05-27-raspbian-jessie.zip 

   2. Mount the second image of the partition. The easiest way is:

      sudo losetup -f --show -P 2016-05-27-raspbian-jessie.img 

      This only works with latest losetup on Ubuntu 16.04, other methods at: https://askubuntu.com/questions/69363/mount-single-partition-from-image-of-entire-disk-device/496576#496576

      This prints a loop device, e.g.:

      /dev/loop0 

      so we do:

      sudo mkdir /mnt/rpi sudo mount /dev/loop0p1 /mnt/rpi cp /mnt/rpi/kernel7.img /mnt/rpi/bcm2709-rpi-2-b.dtb . sudo umount /mnt/rpi sudo losetup -d /dev/loop0 

3. Run:

   ./arm-softmmu/qemu-system-arm \ -M raspi2 \ -append "rw earlyprintk loglevel=8 console=ttyAMA0,115200 dwc_otg.lpm_enable=0 root=/dev/mmcblk0p2" \ -cpu arm1176 \ -dtb bcm2709-rpi-2-b.dtb \ -sd 2016-05-27-raspbian-jessie.img \ -kernel kernel7.img \ -m 1G \ -smp 4 \ -serial stdio \ ; 

Bare metal examples

Here I described some bare metal examples: https://stackoverflow.com/questions/29837892/how-to-run-a-c-program-with-no-os-on-the-raspberry-pi/40063032#40063032

bztsrc/raspi3-tutorial RPI3 bare metal on QEMU

https://github.com/bztsrc/raspi3-tutorial is a good set of examples that just work on QEMU, ultraquick getting started at: How to do QEMU emulation for bare metal Raspberry Pi images

bztsrc/raspi3-tutorial RPI3 bare metal on QEMU

https://github.com/bztsrc/raspi3-tutorial is a good set of examples that just work on QEMU, ultraquick getting started at: How to do QEMU emulation for bare metal Raspberry Pi images

Bare metal examples

Here I described some bare metal examples: https://stackoverflow.com/questions/29837892/how-to-run-a-c-program-with-no-os-on-the-raspberry-pi/40063032#40063032