Quadrotor from scratch
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#ifndef __SWI_H
#define __SWI_H
#define SWI_INTERRUPT_BLOCK 0
#define SWI_INTERRUPT_UNBLOCK 1
#define swi_call(x) swi_call_(x)
#define swi_call_(x) __asm(" swi " #x "\n")
#endif /* __SWI_H */