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The BeagleBone Black supports booting from an microSD card while the boot switch is pressed at power on. A MBR file system layout is normally used as seen below. Partition 1 is all that is required to boot an OS.
1. If the boot switch is not depressed: MMC1, MMC0, UART0, USB0
2. If the boot switch is depressed: SPI0, MMC0, USB0, UART0
The Linaro Fork of QEmu has beagle board (and other OMAP3) support.
https://launchpad.net/qemu-linaro
It seems you get this as the default QEmu install on some, but not all, Ubuntu versions. For other distros (or Haiku), you’ll have to compile it yourself.
WikiPage
SRM