Command lines I use are like following

$QEMU_EXE \
    -kernel qemu-rpi-kernel/kernel-qemu-4.4.34-jessie \
    -cpu arm1176 \
    -m 256 \
    -M versatilepb \
    -append "dwc_otg.lpm_enable=0 root=/dev/sda2 panic=1" \
    -hda 2017-07-05-raspbian-jessie.img \
    -usb \
    -nic user \
    -serial stdio \
    -no-reboot \


# -device usb-dwc2 \
# -device usb-host,hostbus=1,hostport=3 \


# -usb \
# -device qemu-xhci,id=xhci \
    

# -device usb-net,netdev=mynet0 \
# -netdev user,id=mynet0,net=192.168.10.0/24,dhcpstart=192.168.10.1 \
    

#-usb \
   
# -device qemu-xhci \
# -device usb-ehci,id=ehci \

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https://bugs.launchpad.net/bugs/1772165

Title:
  arm raspi2/raspi3 emulation has no USB support

Status in QEMU:
  Confirmed

Bug description:
  Using Qemu 2.12.0 on ArchLinux.

  Trying to emulate arm device with `qemu-system-arm` and attach usb
  device for unput using

  ` -usb -device usb-host,bus=001,vendorid=0x1d6b,productid=0x0002 `

  # lsusb returns

  Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
  Bus 001 Device 014: ID 13d3:3487 IMC Networks 
  Bus 001 Device 004: ID 0457:11af Silicon Integrated Systems Corp. 
  Bus 001 Device 003: ID 0bda:57e6 Realtek Semiconductor Corp. 
  Bus 001 Device 002: ID 0bda:0129 Realtek Semiconductor Corp. RTS5129 Card 
Reader Controller
  Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

  # qemu returns
  qemu-system-arm: -device usb-host,bus=001,vendorid=0x1d6b,productid=0x0002: 
Bus '001' not found

  
  Tried with connecting external usb keyboard but that didn't seem to work 
either.

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