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I did some experimenting with RPi assembler, since I used to do a lot of x86 assembler throughout the 90's. If you're interested, here are 6 completely different ways to print Hello World in Assembler for the Raspberry Pi.
https://github.com/ksaj/helloworld
I kept the code as close to each other in format and style as possible, so comparisons are easier to make. I don't really know the benefits and drawbacks to each method, but they are there and available, so I sleuthed them out and got them working.
> swi #0 / print without using clib */
This seems to be just a call into the linux kernel, not bare metal, essentially what the clib does itself. You have to do this to do functions the kernel supports but haven't been ported to clib yet.
I haven't really looked deep into it but a google search came up with this for bare metal text printing https://github.com/bztsrc/raspi3-tutorial/tree/master/0A_pcs...