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Debug: Implement SWO trace output #278

Description

@ETSells

**Requester: @ETSells **

Describe the solution you'd like
Implement a method to send data over SWO using ITM_SendChar(). This will be used by the project side implementation of the debug_sdr module.

Describe alternatives you've considered
N/A for rev 2. Rev 3 will use UART on the ST-Linkv3 Minie (see SunDevilRocketry/driver#41).

Additional context
Deferred feature from PR #277.

Points of Contact
Rev 2 Project Lead: @NArmistead
Mod maintainer/Debug SME: @ETSells

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