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If you build kernel modules, it archives them up separately and then appends them to the initramfs.cpio.gz so you don't have to rebuild the kernel to rebuild the filesystem. But this leaves a file lying around at the top level which is not used to launch qemu, and those go in "docs".
Use ./run-qemu.sh to boot system image to a shell prompt, "exit" when done.
Additional arguments to run-qemu.sh are QEMU arguments,
$KARGS contains additional linux kernel arguments. For example:
KARGS=quiet ./run-qemu.sh -hda docs/linux-fullconfig
# cat /dev/?da
# exit
To extract the root filesystem from cpio.gz and chroot into it
( mkdir fs && cd fs && zcat ../initramfs.cpio.gz | cpio -i -d -H newc )
chroot fs /init
To recreate the initramfs.cpio.gz from fs directory
( cd fs && find . -printf '%P\n' | cpio -o -H newc -R +0:+0 | gzip ) \
> initramfs.cpio.gz