First let's install Homebrew.
$ /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)"
You might want to read this to get an introduction to armel vs armhf.
If the below is too much, you can try Ubuntu-ARMv7-Qemu but note it contains non-free blobs.
First, cross-compile user programs with GCC-ARM toolchain. Then install qemu-arm-static so that you can run ARM executables directly on linux