We use QEMU to test programs built by the toolchain binary release for correctness. I’ve written up the instructions for spinning up your own at:
https://wiki.linaro.org/MichaelHope/Sandbox/QEMUCrossTest.
It’s focused on simplicity – getting a running, SSH only Cortex-A9 up and going as soon as possible. It’s not the latest, not graphical, and doesn’t replace the deeper documentation at: