Getting Shellcode from ARM Binaries

For x86 and x86_64 there are already commands for extracting shellcode and printing them nicely formatted. But when it comes to ARM none of them work would because of the way objdump would dump the opcodes. For example if this is my sample program:

.section .text
.global _start
.code 32
# Thumb-Mode on
add r6, pc, #1
bx r6
.code 16
# _write()
mov r2, #7
mov r1, pc
add r1, #12
mov r0, $0x1
mov r7, $0x4
svc 0
# _exit()
sub r0, r0, r0
mov r7, $0x1
svc 0
.ascii "Osanda\n"