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diff --git a/Drivers/CMSIS/DSP/Include/dsp/support_functions.h b/Drivers/CMSIS/DSP/Include/dsp/support_functions.h
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+/******************************************************************************
+ * @file     support_functions.h
+ * @brief    Public header file for CMSIS DSP Library
+ * @version  V1.10.0
+ * @date     08 July 2021
+ * Target Processor: Cortex-M and Cortex-A cores
+ ******************************************************************************/
+/*
+ * Copyright (c) 2010-2020 Arm Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+ 
+#ifndef _SUPPORT_FUNCTIONS_H_
+#define _SUPPORT_FUNCTIONS_H_
+
+#include "arm_math_types.h"
+#include "arm_math_memory.h"
+
+#include "dsp/none.h"
+#include "dsp/utils.h"
+
+#ifdef   __cplusplus
+extern "C"
+{
+#endif
+
+/**
+ * @defgroup groupSupport Support Functions
+ */
+
+
+/**
+   * @brief Converts the elements of the floating-point vector to Q31 vector.
+   * @param[in]  pSrc       points to the floating-point input vector
+   * @param[out] pDst       points to the Q31 output vector
+   * @param[in]  blockSize  length of the input vector
+   */
+  void arm_float_to_q31(
+  const float32_t * pSrc,
+        q31_t * pDst,
+        uint32_t blockSize);
+
+
+  /**
+   * @brief Converts the elements of the floating-point vector to Q15 vector.
+   * @param[in]  pSrc       points to the floating-point input vector
+   * @param[out] pDst       points to the Q15 output vector
+   * @param[in]  blockSize  length of the input vector
+   */
+  void arm_float_to_q15(
+  const float32_t * pSrc,
+        q15_t * pDst,
+        uint32_t blockSize);
+
+
+  /**
+   * @brief Converts the elements of the floating-point vector to Q7 vector.
+   * @param[in]  pSrc       points to the floating-point input vector
+   * @param[out] pDst       points to the Q7 output vector
+   * @param[in]  blockSize  length of the input vector
+   */
+  void arm_float_to_q7(
+  const float32_t * pSrc,
+        q7_t * pDst,
+        uint32_t blockSize);
+
+
+  /**
+   * @brief  Converts the elements of the Q31 vector to floating-point vector.
+   * @param[in]  pSrc       is input pointer
+   * @param[out] pDst       is output pointer
+   * @param[in]  blockSize  is the number of samples to process
+   */
+  void arm_q31_to_float(
+  const q31_t * pSrc,
+        float32_t * pDst,
+        uint32_t blockSize);
+
+
+  /**
+   * @brief  Converts the elements of the Q31 vector to Q15 vector.
+   * @param[in]  pSrc       is input pointer
+   * @param[out] pDst       is output pointer
+   * @param[in]  blockSize  is the number of samples to process
+   */
+  void arm_q31_to_q15(
+  const q31_t * pSrc,
+        q15_t * pDst,
+        uint32_t blockSize);
+
+
+  /**
+   * @brief  Converts the elements of the Q31 vector to Q7 vector.
+   * @param[in]  pSrc       is input pointer
+   * @param[out] pDst       is output pointer
+   * @param[in]  blockSize  is the number of samples to process
+   */
+  void arm_q31_to_q7(
+  const q31_t * pSrc,
+        q7_t * pDst,
+        uint32_t blockSize);
+
+
+  /**
+   * @brief  Converts the elements of the Q15 vector to floating-point vector.
+   * @param[in]  pSrc       is input pointer
+   * @param[out] pDst       is output pointer
+   * @param[in]  blockSize  is the number of samples to process
+   */
+  void arm_q15_to_float(
+  const q15_t * pSrc,
+        float32_t * pDst,
+        uint32_t blockSize);
+
+
+  /**
+   * @brief  Converts the elements of the Q15 vector to Q31 vector.
+   * @param[in]  pSrc       is input pointer
+   * @param[out] pDst       is output pointer
+   * @param[in]  blockSize  is the number of samples to process
+   */
+  void arm_q15_to_q31(
+  const q15_t * pSrc,
+        q31_t * pDst,
+        uint32_t blockSize);
+
+
+  /**
+   * @brief  Converts the elements of the Q15 vector to Q7 vector.
+   * @param[in]  pSrc       is input pointer
+   * @param[out] pDst       is output pointer
+   * @param[in]  blockSize  is the number of samples to process
+   */
+  void arm_q15_to_q7(
+  const q15_t * pSrc,
+        q7_t * pDst,
+        uint32_t blockSize);
+
+
+  /**
+   * @brief  Converts the elements of the Q7 vector to floating-point vector.
+   * @param[in]  pSrc       is input pointer
+   * @param[out] pDst       is output pointer
+   * @param[in]  blockSize  is the number of samples to process
+   */
+  void arm_q7_to_float(
+  const q7_t * pSrc,
+        float32_t * pDst,
+        uint32_t blockSize);
+
+
+  /**
+   * @brief  Converts the elements of the Q7 vector to Q31 vector.
+   * @param[in]  pSrc       input pointer
+   * @param[out] pDst       output pointer
+   * @param[in]  blockSize  number of samples to process
+   */
+  void arm_q7_to_q31(
+  const q7_t * pSrc,
+        q31_t * pDst,
+        uint32_t blockSize);
+
+
+  /**
+   * @brief  Converts the elements of the Q7 vector to Q15 vector.
+   * @param[in]  pSrc       input pointer
+   * @param[out] pDst       output pointer
+   * @param[in]  blockSize  number of samples to process
+   */
+  void arm_q7_to_q15(
+  const q7_t * pSrc,
+        q15_t * pDst,
+        uint32_t blockSize);
+
+
+
+
+  
+  /**
+   * @brief Struct for specifying sorting algorithm
+   */
+  typedef enum
+  {
+    ARM_SORT_BITONIC   = 0,
+             /**< Bitonic sort   */
+    ARM_SORT_BUBBLE    = 1,
+             /**< Bubble sort    */
+    ARM_SORT_HEAP      = 2,
+             /**< Heap sort      */
+    ARM_SORT_INSERTION = 3,
+             /**< Insertion sort */
+    ARM_SORT_QUICK     = 4,
+             /**< Quick sort     */
+    ARM_SORT_SELECTION = 5
+             /**< Selection sort */
+  } arm_sort_alg;
+
+  /**
+   * @brief Struct for specifying sorting algorithm
+   */
+  typedef enum
+  {
+    ARM_SORT_DESCENDING = 0,
+             /**< Descending order (9 to 0) */
+    ARM_SORT_ASCENDING = 1
+             /**< Ascending order (0 to 9) */
+  } arm_sort_dir;
+
+  /**
+   * @brief Instance structure for the sorting algorithms.
+   */
+  typedef struct            
+  {
+    arm_sort_alg alg;        /**< Sorting algorithm selected */
+    arm_sort_dir dir;        /**< Sorting order (direction)  */
+  } arm_sort_instance_f32;  
+
+  /**
+   * @param[in]  S          points to an instance of the sorting structure.
+   * @param[in]  pSrc       points to the block of input data.
+   * @param[out] pDst       points to the block of output data.
+   * @param[in]  blockSize  number of samples to process.
+   */
+  void arm_sort_f32(
+    const arm_sort_instance_f32 * S, 
+          float32_t * pSrc, 
+          float32_t * pDst, 
+          uint32_t blockSize);
+
+  /**
+   * @param[in,out]  S            points to an instance of the sorting structure.
+   * @param[in]      alg          Selected algorithm.
+   * @param[in]      dir          Sorting order.
+   */
+  void arm_sort_init_f32(
+    arm_sort_instance_f32 * S, 
+    arm_sort_alg alg, 
+    arm_sort_dir dir); 
+
+  /**
+   * @brief Instance structure for the sorting algorithms.
+   */
+  typedef struct            
+  {
+    arm_sort_dir dir;        /**< Sorting order (direction)  */
+    float32_t * buffer;      /**< Working buffer */
+  } arm_merge_sort_instance_f32;  
+
+  /**
+   * @param[in]      S          points to an instance of the sorting structure.
+   * @param[in,out]  pSrc       points to the block of input data.
+   * @param[out]     pDst       points to the block of output data
+   * @param[in]      blockSize  number of samples to process.
+   */
+  void arm_merge_sort_f32(
+    const arm_merge_sort_instance_f32 * S,
+          float32_t *pSrc,
+          float32_t *pDst,
+          uint32_t blockSize);
+
+  /**
+   * @param[in,out]  S            points to an instance of the sorting structure.
+   * @param[in]      dir          Sorting order.
+   * @param[in]      buffer       Working buffer.
+   */
+  void arm_merge_sort_init_f32(
+    arm_merge_sort_instance_f32 * S,
+    arm_sort_dir dir,
+    float32_t * buffer);
+
+ 
+ 
+  /**
+   * @brief  Copies the elements of a floating-point vector.
+   * @param[in]  pSrc       input pointer
+   * @param[out] pDst       output pointer
+   * @param[in]  blockSize  number of samples to process
+   */
+  void arm_copy_f32(
+  const float32_t * pSrc,
+        float32_t * pDst,
+        uint32_t blockSize);
+
+ 
+ 
+  /**
+   * @brief  Copies the elements of a floating-point vector.
+   * @param[in]  pSrc       input pointer
+   * @param[out] pDst       output pointer
+   * @param[in]  blockSize  number of samples to process
+   */
+  void arm_copy_f64(
+  const float64_t * pSrc,
+        float64_t * pDst,
+        uint32_t blockSize);
+
+
+
+  /**
+   * @brief  Copies the elements of a Q7 vector.
+   * @param[in]  pSrc       input pointer
+   * @param[out] pDst       output pointer
+   * @param[in]  blockSize  number of samples to process
+   */
+  void arm_copy_q7(
+  const q7_t * pSrc,
+        q7_t * pDst,
+        uint32_t blockSize);
+
+
+  /**
+   * @brief  Copies the elements of a Q15 vector.
+   * @param[in]  pSrc       input pointer
+   * @param[out] pDst       output pointer
+   * @param[in]  blockSize  number of samples to process
+   */
+  void arm_copy_q15(
+  const q15_t * pSrc,
+        q15_t * pDst,
+        uint32_t blockSize);
+
+
+  /**
+   * @brief  Copies the elements of a Q31 vector.
+   * @param[in]  pSrc       input pointer
+   * @param[out] pDst       output pointer
+   * @param[in]  blockSize  number of samples to process
+   */
+  void arm_copy_q31(
+  const q31_t * pSrc,
+        q31_t * pDst,
+        uint32_t blockSize);
+
+
+  /**
+   * @brief  Fills a constant value into a floating-point vector.
+   * @param[in]  value      input value to be filled
+   * @param[out] pDst       output pointer
+   * @param[in]  blockSize  number of samples to process
+   */
+  void arm_fill_f32(
+        float32_t value,
+        float32_t * pDst,
+        uint32_t blockSize);
+
+
+  /**
+   * @brief  Fills a constant value into a floating-point vector.
+   * @param[in]  value      input value to be filled
+   * @param[out] pDst       output pointer
+   * @param[in]  blockSize  number of samples to process
+   */
+  void arm_fill_f64(
+        float64_t value,
+        float64_t * pDst,
+        uint32_t blockSize);
+
+
+  /**
+   * @brief  Fills a constant value into a Q7 vector.
+   * @param[in]  value      input value to be filled
+   * @param[out] pDst       output pointer
+   * @param[in]  blockSize  number of samples to process
+   */
+  void arm_fill_q7(
+        q7_t value,
+        q7_t * pDst,
+        uint32_t blockSize);
+
+
+  /**
+   * @brief  Fills a constant value into a Q15 vector.
+   * @param[in]  value      input value to be filled
+   * @param[out] pDst       output pointer
+   * @param[in]  blockSize  number of samples to process
+   */
+  void arm_fill_q15(
+        q15_t value,
+        q15_t * pDst,
+        uint32_t blockSize);
+
+
+  /**
+   * @brief  Fills a constant value into a Q31 vector.
+   * @param[in]  value      input value to be filled
+   * @param[out] pDst       output pointer
+   * @param[in]  blockSize  number of samples to process
+   */
+  void arm_fill_q31(
+        q31_t value,
+        q31_t * pDst,
+        uint32_t blockSize);
+
+
+
+
+
+
+
+/**
+ * @brief Weighted sum
+ *
+ *
+ * @param[in]    *in           Array of input values.
+ * @param[in]    *weigths      Weights
+ * @param[in]    blockSize     Number of samples in the input array.
+ * @return Weighted sum
+ *
+ */
+float32_t arm_weighted_sum_f32(const float32_t *in
+  , const float32_t *weigths
+  , uint32_t blockSize);
+
+
+/**
+ * @brief Barycenter
+ *
+ *
+ * @param[in]    in         List of vectors
+ * @param[in]    weights    Weights of the vectors
+ * @param[out]   out        Barycenter
+ * @param[in]    nbVectors  Number of vectors
+ * @param[in]    vecDim     Dimension of space (vector dimension)
+ * @return       None
+ *
+ */
+void arm_barycenter_f32(const float32_t *in
+  , const float32_t *weights
+  , float32_t *out
+  , uint32_t nbVectors
+  , uint32_t vecDim);
+
+
+
+#ifdef   __cplusplus
+}
+#endif
+
+#endif /* ifndef _SUPPORT_FUNCTIONS_H_ */