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QEMU's "VGA" device is a typical PCI VGA adapter with Bochs SVGA extensions. First enumerate PCI so you can figure out how to talk to the device's I/O, then follow the Bochs SVGA specifications to write a driver. There's also some information on the wiki, although it seems to make a few x86-specific assumptions.
Source Code: https://github.com/BlownCap11/RiscV-OS