add l476 implementationl476

1 files changed, 534 insertions, 1001 deletions

diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f32.c
index d1fd9ea..35517d6 100644
--- a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f32.c
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f32.c
@@ -1,1001 +1,534 @@
-/* ----------------------------------------------------------------------
- * Project:      CMSIS DSP Library
- * Title:        arm_mat_mult_f32.c
- * Description:  Floating-point matrix multiplication
- *
- * $Date:        23 April 2021
- * $Revision:    V1.9.0
- *
- * Target Processor: Cortex-M and Cortex-A cores
- * -------------------------------------------------------------------- */
-/*
- * Copyright (C) 2010-2021 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.
- */
-
-#include "dsp/matrix_functions.h"
-
-#if defined(ARM_MATH_NEON)
-#define GROUPOFROWS 8
-#endif
-
-/**
- * @ingroup groupMatrix
- */
-
-/**
- * @defgroup MatrixMult Matrix Multiplication
- *
- * Multiplies two matrices.
- *
- * \image html MatrixMultiplication.gif "Multiplication of two 3 x 3 matrices"
-
- * Matrix multiplication is only defined if the number of columns of the
- * first matrix equals the number of rows of the second matrix.
- * Multiplying an <code>M x N</code> matrix with an <code>N x P</code> matrix results
- * in an <code>M x P</code> matrix.
- * When matrix size checking is enabled, the functions check: (1) that the inner dimensions of
- * <code>pSrcA</code> and <code>pSrcB</code> are equal; and (2) that the size of the output
- * matrix equals the outer dimensions of <code>pSrcA</code> and <code>pSrcB</code>.
- */
-
-
-/**
- * @addtogroup MatrixMult
- * @{
- */
-
-
-
-#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
-
-#define MATRIX_DIM3 3 
-#define MATRIX_DIM4 4 
-
-__STATIC_INLINE  arm_status arm_mat_mult_f32_2x2_mve(
-    const arm_matrix_instance_f32 *pSrcA,
-    const arm_matrix_instance_f32 *pSrcB,
-    arm_matrix_instance_f32 *pDst)
-{
-    /* {a00, a00, a10, a10} */
-    static const uint32_t  offsetA0[4] = { 0, 0, 2, 2 };
-    /* {b00, b01, b00, b01} */
-    static const uint32_t  offsetB0[4] = { 0, 1, 0, 1 };
-    /* {a01, a01, a11, a11} */
-    static const uint32_t  offsetA1[4] = { 1, 1, 3, 3 };
-    /* {b10, b11, b10, b11} */
-    static const uint32_t  offsetB1[4] = { 2, 3, 2, 3 };
-
-    uint32x4_t vecOffsA, vecOffsB;
-    f32x4_t vecInA, vecInB, vecDst;
-
-    vecOffsA = vldrwq_u32((uint32_t const *) offsetA0);
-    vecOffsB = vldrwq_u32((uint32_t const *) offsetB0);
-
-    vecInA = vldrwq_gather_shifted_offset((float32_t const *) pSrcA->pData, vecOffsA);
-    vecInB = vldrwq_gather_shifted_offset((float32_t const *) pSrcB->pData, vecOffsB);
-
-    vecDst = vmulq(vecInA, vecInB);
-
-    vecOffsA = vldrwq_u32((uint32_t const *) offsetA1);
-    vecOffsB = vldrwq_u32((uint32_t const *) offsetB1);
-
-    vecInA = vldrwq_gather_shifted_offset((float32_t const *) pSrcA->pData, vecOffsA);
-    vecInB = vldrwq_gather_shifted_offset((float32_t const *) pSrcB->pData, vecOffsB);
-
-    vecDst = vfmaq(vecDst, vecInA, vecInB);
-
-    vstrwq_f32(pDst->pData, vecDst);
-
-    return (ARM_MATH_SUCCESS);
-
-}
-
-
-/*
- * A  =  {{a00, a01, a02},
- *        {a10, a11, a12},
- *        {a20, a21, a22}}
- * B  =  {{b00, b01, b02},
- *        {b10, b11, b12},
- *        {b20, b21, b22}}
- *
- * Dst = {{a00 b00 + a01 b10 + a02 b20, a00 b01 + a01 b11 + a02 b21, a00 b02 + a01 b12 + a02 b22},
- *        {a10 b00 + a11 b10 + a12 b20, a10 b01 + a11 b11 + a12 b21, a10 b02 + a11 b12 + a12 b22},
- *        {a20 b00 + a21 b10 + a22 b20, a20 b01 + a21 b11 + a22 b21, a20 b02 + a21 b12 + a22 b22}}
- */
-__STATIC_INLINE  arm_status arm_mat_mult_f32_3x3_mve(
-    const arm_matrix_instance_f32 *pSrcA,
-    const arm_matrix_instance_f32 *pSrcB,
-    arm_matrix_instance_f32 *pDst)
-{
-    float32_t   *pInB = pSrcB->pData; /* input data matrix pointer B */
-    float32_t   *pInA = pSrcA->pData; /* input data matrix pointer A  */
-    float32_t   *pOut = pDst->pData;  /* output data matrix pointer */
-    float32_t   *pInA0, *pInA1, *pInA2;
-    f32x4_t    vecMac0, vecMac1, vecMac2;
-    f32x4_t    vecInB;
-    float32_t const *pSrBVec;
-
-    pSrBVec = (float32_t const *) pInB;
-
-    pInA0 = pInA;
-    pInA1 = pInA0 + MATRIX_DIM3;
-    pInA2 = pInA1 + MATRIX_DIM3;
-    /* enable predication to disable last (4th) vector element */
-    mve_pred16_t p0 = vctp32q(MATRIX_DIM3);
-
-    /*
-     * load {b0,0, b0,1, b0,2, 0}
-     */
-    vecInB = vldrwq_z_f32(pSrBVec, p0);  
-    pSrBVec += MATRIX_DIM3;
-
-    vecMac0 = vmulq(vecInB, *pInA0++);
-    vecMac1 = vmulq(vecInB, *pInA1++);
-    vecMac2 = vmulq(vecInB, *pInA2++);
-    /*
-     * load {b1,0, b1,1, b1,2, 0}
-     */
-    vecInB = vldrwq_z_f32(pSrBVec, p0);  
-    pSrBVec += MATRIX_DIM3;
-
-    vecMac0 = vfmaq(vecMac0, vecInB, *pInA0++);
-    vecMac1 = vfmaq(vecMac1, vecInB, *pInA1++);
-    vecMac2 = vfmaq(vecMac2, vecInB, *pInA2++);
-    /*
-     * load {b2,0, b2,1 , b2,2, 0}
-     */
-    vecInB = vldrwq_z_f32(pSrBVec, p0);  
-    pSrBVec += MATRIX_DIM3;
-
-    vecMac0 = vfmaq(vecMac0, vecInB, *pInA0++);
-    vecMac1 = vfmaq(vecMac1, vecInB, *pInA1++);
-    vecMac2 = vfmaq(vecMac2, vecInB, *pInA2++);
-
-    /* partial vector stores */
-    vstrwq_p_f32(pOut, vecMac0, p0); 
-    pOut += MATRIX_DIM3;
-    vstrwq_p_f32(pOut, vecMac1, p0); 
-    pOut += MATRIX_DIM3;
-    vstrwq_p_f32(pOut, vecMac2, p0);
-    /*
-     * Return to application
-     */
-    return (ARM_MATH_SUCCESS);
-}
-
-
-
-
-__STATIC_INLINE arm_status arm_mat_mult_f32_4x4_mve(
-    const arm_matrix_instance_f32 *pSrcA,
-    const arm_matrix_instance_f32 *pSrcB,
-    arm_matrix_instance_f32 *pDst)
-{
-    float32_t const *pSrBVec;
-    float32_t *pInB = pSrcB->pData; /* input data matrix pointer B */
-    float32_t *pInA = pSrcA->pData; /* input data matrix pointer A  */
-    float32_t *pOut = pDst->pData;  /* output data matrix pointer */
-    float32_t *pInA0, *pInA1, *pInA2, *pInA3;
-    f32x4_t vecMac0, vecMac1, vecMac2, vecMac3;
-    f32x4_t vecInB;
-
-    pSrBVec = (float32_t const *) pInB;
-
-    pInA0 = pInA;
-    pInA1 = pInA0 + MATRIX_DIM4;
-    pInA2 = pInA1 + MATRIX_DIM4;
-    pInA3 = pInA2 + MATRIX_DIM4;
-    /*
-     * load {b0,0, b0,1, b0,2, b0,3}
-     */
-    vecInB = vld1q(pSrBVec);  
-    pSrBVec += MATRIX_DIM4;
-
-    vecMac0 = vmulq(vecInB, *pInA0++);
-    vecMac1 = vmulq(vecInB, *pInA1++);
-    vecMac2 = vmulq(vecInB, *pInA2++);
-    vecMac3 = vmulq(vecInB, *pInA3++);
-    /*
-     * load {b1,0, b1,1, b1,2, b1,3}
-     */
-    vecInB = vld1q(pSrBVec);  
-    pSrBVec += MATRIX_DIM4;
-
-    vecMac0 = vfmaq(vecMac0, vecInB, *pInA0++);
-    vecMac1 = vfmaq(vecMac1, vecInB, *pInA1++);
-    vecMac2 = vfmaq(vecMac2, vecInB, *pInA2++);
-    vecMac3 = vfmaq(vecMac3, vecInB, *pInA3++);
-    /*
-     * load {b2,0, b2,1, b2,2, b2,3}
-     */
-    vecInB = vld1q(pSrBVec);  
-    pSrBVec += MATRIX_DIM4;
-
-    vecMac0 = vfmaq(vecMac0, vecInB, *pInA0++);
-    vecMac1 = vfmaq(vecMac1, vecInB, *pInA1++);
-    vecMac2 = vfmaq(vecMac2, vecInB, *pInA2++);
-    vecMac3 = vfmaq(vecMac3, vecInB, *pInA3++);
-    /*
-     * load {b3,0, b3,1, b3,2, b3,3}
-     */
-    vecInB = vld1q(pSrBVec);  
-    pSrBVec += MATRIX_DIM4;
-
-    vecMac0 = vfmaq(vecMac0, vecInB, *pInA0++);
-    vecMac1 = vfmaq(vecMac1, vecInB, *pInA1++);
-    vecMac2 = vfmaq(vecMac2, vecInB, *pInA2++);
-    vecMac3 = vfmaq(vecMac3, vecInB, *pInA3++);
-
-    vst1q(pOut, vecMac0);  
-    pOut += MATRIX_DIM4;
-    vst1q(pOut, vecMac1);  
-    pOut += MATRIX_DIM4;
-    vst1q(pOut, vecMac2);  
-    pOut += MATRIX_DIM4;
-    vst1q(pOut, vecMac3);
-    /*
-     * Return to application
-     */
-    return (ARM_MATH_SUCCESS);
-}
-
-
-/**
- * @brief Floating-point matrix multiplication.
- * @param[in]       *pSrcA points to the first input matrix structure
- * @param[in]       *pSrcB points to the second input matrix structure
- * @param[out]      *pDst points to output matrix structure
- * @return          The function returns either
- * <code>ARM_MATH_SIZE_MISMATCH</code> or <code>ARM_MATH_SUCCESS</code> based on the outcome of size checking.
- */
-arm_status arm_mat_mult_f32(
-  const arm_matrix_instance_f32 * pSrcA,
-  const arm_matrix_instance_f32 * pSrcB,
-  arm_matrix_instance_f32 * pDst)
-{
-    float32_t  *pInB = pSrcB->pData;        /* input data matrix pointer B */
-    float32_t  *pInA = pSrcA->pData;        /* input data matrix pointer A  */
-    float32_t  *pOut = pDst->pData;         /* output data matrix pointer */
-    int         numRowsA = pSrcA->numRows;  /* number of rows of input matrix A */
-    int         numColsB = pSrcB->numCols;  /* number of columns of input matrix B */
-    int         numColsA = pSrcA->numCols;  /* number of columns of input matrix A */
-    uint32_t    blkCnt;                     /* loop counters */
-    uint32_t    i;
-    arm_status status; 
-
-#ifdef ARM_MATH_MATRIX_CHECK
-
-  /* Check for matrix mismatch condition */
-  if ((pSrcA->numCols != pSrcB->numRows) ||
-     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
-  {
-      /* small squared matrix specialized routines */
-    if(numRowsA == numColsB && numColsB == numColsA) {
-        if (numRowsA == 1)
-        {
-           pOut[0] = pInA[0] * pInB[0];
-           return(ARM_MATH_SUCCESS);
-        }
-        else if(numRowsA == 2)
-            return arm_mat_mult_f32_2x2_mve(pSrcA, pSrcB, pDst);
-        else if(numRowsA == 3)
-            return arm_mat_mult_f32_3x3_mve(pSrcA, pSrcB, pDst);
-        else if(numRowsA == 4)
-            return arm_mat_mult_f32_4x4_mve(pSrcA, pSrcB, pDst);
-    }
-
-    /* main loop process 4 rows */
-    i = numRowsA >> 2;
-    while (i > 0U)
-    {
-        float32_t *pInA0, *pInA1, *pInA2, *pInA3;
-        float32_t *pInB0;
-        float32_t *pOut0, *pOut1, *pOut2, *pOut3;
-        f32x4_t vecMac0, vecMac1, vecMac2, vecMac3;
-        f32x4_t vecInB;
-
-        /* pointers to 4 consecutive output rows */
-        pOut0 = pOut;
-        pOut1 = pOut0 + numColsB;
-        pOut2 = pOut1 + numColsB;
-        pOut3 = pOut2 + numColsB;
-        pInB0 = pInB;
-
-        uint32_t  k = numColsB >> 2;
-        while (k > 0U)
-        {
-            /* pointers to 4 consecutive Matrix A rows */
-            pInA0 = pInA;
-            pInA1 = pInA0 + numColsA;
-            pInA2 = pInA1 + numColsA;
-            pInA3 = pInA2 + numColsA;
-
-            vecMac0 = vdupq_n_f32(0.0f);
-            vecMac1 = vdupq_n_f32(0.0f);
-            vecMac2 = vdupq_n_f32(0.0f);
-            vecMac3 = vdupq_n_f32(0.0f);
-
-            blkCnt = numColsA;
-
-            while (blkCnt > 0U)
-            {
-                /*
-                 * load {bi,4n+0, bi,4n+1, bi,4n+2, bi,4n+3}
-                 */
-                vecInB = *(f32x4_t *)pInB0; /* vldrwq_f32(pInB0, 0); */
-
-                vecMac0 = vfmaq(vecMac0, vecInB, *pInA0++);
-                vecMac1 = vfmaq(vecMac1, vecInB, *pInA1++);
-                vecMac2 = vfmaq(vecMac2, vecInB, *pInA2++);
-                vecMac3 = vfmaq(vecMac3, vecInB, *pInA3++);
-
-                pInB0 = pInB0 + numColsB;
-                /*
-                 * Decrement the blockSize loop counter
-                 */
-                blkCnt--;
-            }
-
-            /* Store the results (4 x 4 block) in the destination buffer */
-            vst1q(pOut0, vecMac0);  
-            pOut0 += 4;
-            vst1q(pOut1, vecMac1);  
-            pOut1 += 4;
-            vst1q(pOut2, vecMac2);  
-            pOut2 += 4;
-            vst1q(pOut3, vecMac3);  
-            pOut3 += 4;
-
-            /*
-             * rewind
-             */
-            pInB0 -= (numColsB * numColsA) - 4;
-            k--;
-        }
-
-        int       colBLeft = numColsB & 3;
-        if (colBLeft)
-        {
-            pInA0 = pInA;
-            pInA1 = pInA0 + numColsA;
-            pInA2 = pInA1 + numColsA;
-            pInA3 = pInA2 + numColsA;
-            mve_pred16_t p0 = vctp32q(colBLeft);
-
-            vecMac0 = vdupq_n_f32(0.0f);
-            vecMac1 = vdupq_n_f32(0.0f);
-            vecMac2 = vdupq_n_f32(0.0f);
-            vecMac3 = vdupq_n_f32(0.0f);
-
-            blkCnt = numColsA;
-
-            while (blkCnt > 0U)
-            {
-                /*
-                 * load {bi,4n+0, bi,4n+1, bi,4n+2, bi,4n+3}
-                 */
-                vecInB = vldrwq_z_f32(pInB0, p0);
-
-                vecMac0 = vfmaq(vecMac0, vecInB, *pInA0++);
-                vecMac1 = vfmaq(vecMac1, vecInB, *pInA1++);
-                vecMac2 = vfmaq(vecMac2, vecInB, *pInA2++);
-                vecMac3 = vfmaq(vecMac3, vecInB, *pInA3++);
-
-                pInB0 = pInB0 + numColsB;
-                /*
-                 * Decrement the blockSize loop counter
-                 */
-                blkCnt--;
-            }
-
-            /* Store the results (4 x colBLeft block) in the destination buffer */
-            vstrwq_p_f32(pOut0, vecMac0, p0);
-            vstrwq_p_f32(pOut1, vecMac1, p0);
-            vstrwq_p_f32(pOut2, vecMac2, p0);
-            vstrwq_p_f32(pOut3, vecMac3, p0);
-        }
-
-        /* move to next rows */
-        pInA += 4 * numColsA;
-        pOut += 4 * numColsB;
-        i--;
-    }
-
-    /*
-     * non multiple of 4 rows for Matrix A
-     * process single row
-     */
-    if (numRowsA & 3)
-    {
-        i = numRowsA & 3;
-        while (i > 0U)
-        {
-            float32_t   *pInA0;
-            float32_t   *pInB0;
-            float32_t   *pOut0;
-            f32x4_t    vecInB;
-            f32x4_t    vecMac0;
-
-            pOut0 = pOut;
-            pInB0 = pInB;
-
-            uint32_t       k = numColsB >> 2;
-            while (k > 0U)
-            {
-                pInA0 = pInA;
-
-                vecMac0 = vdupq_n_f32(0.0f);
-                blkCnt = numColsA;
-                while (blkCnt > 0U)
-                {
-                    /*
-                     * load {bi,4n+0, bi,4n+1, bi,4n+2, bi,4n+3}
-                     */
-                    vecInB = *(f32x4_t *)pInB0; /* vldrwq_f32(pInB0, 0); */
-
-                    vecMac0 = vfmaq(vecMac0, vecInB, *pInA0++);
-
-                    pInB0 = pInB0 + numColsB;
-                    /*
-                     * Decrement the blockSize loop counter
-                     */
-                    blkCnt--;
-                }
-
-                /* Store the results (1 x 4 block) in the destination buffer */
-                vst1q(pOut0, vecMac0);  
-                pOut0 += 4;
-
-                /*
-                 * rewind
-                 */
-                pInB0 -= (numColsB * numColsA) - 4;
-                k--;
-            }
-
-            int       colBLeft = numColsB & 3;
-            if (colBLeft)
-            {
-                pInA0 = pInA;
-                mve_pred16_t p0 = vctp32q(colBLeft);
-
-                vecMac0 = vdupq_n_f32(0.0f);
-                blkCnt = numColsA;
-                while (blkCnt > 0U)
-                {
-                    /*
-                     * load {bi,4n+0, bi,4n+1, bi,4n+2, bi,4n+3}
-                     */
-                    vecInB = vldrwq_z_f32(pInB0, p0);
-
-                    vecMac0 = vfmaq(vecMac0, vecInB, *pInA0++);
-
-                    pInB0 = pInB0 + numColsB;
-                    /*
-                     * Decrement the blockSize loop counter
-                     */
-                    blkCnt--;
-                }
-                /* Store the results (1 x colBLeft block) in the destination buffer */
-                vstrwq_p_f32(pOut0, vecMac0, p0);
-            }
-
-            /* move to next row */
-            pInA += 1 * numColsA;
-            pOut += 1 * numColsB;
-            i--;
-        }
-        
-      }
-      status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-}
-#else
-
-#if defined(ARM_MATH_NEON)
-/**
- * @brief Floating-point matrix multiplication.
- * @param[in]       *pSrcA points to the first input matrix structure
- * @param[in]       *pSrcB points to the second input matrix structure
- * @param[out]      *pDst points to output matrix structure
- * @return          The function returns either
- * <code>ARM_MATH_SIZE_MISMATCH</code> or <code>ARM_MATH_SUCCESS</code> based on the outcome of size checking.
- */
-arm_status arm_mat_mult_f32(
-  const arm_matrix_instance_f32 * pSrcA,
-  const arm_matrix_instance_f32 * pSrcB,
-  arm_matrix_instance_f32 * pDst)
-{
-  float32_t *pIn1 = pSrcA->pData;                /* input data matrix pointer A */
-  float32_t *pIn2 = pSrcB->pData;                /* input data matrix pointer B */
-  float32_t *pInA = pSrcA->pData;                /* input data matrix pointer A  */
-  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */
-  float32_t *px;                                 /* Temporary output data matrix pointer */
-  float32_t sum;                                 /* Accumulator */
-  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A */
-  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */
-  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */
-
-
-  uint16_t col, i = 0U, j, row = numRowsA, rowCnt, colCnt;      /* loop counters */
-  arm_status status;                             /* status of matrix multiplication */
-
-  float32x4_t a0V, a1V, a2V, a3V, a4V, a5V, a6V, a7V;
-  float32x4_t acc0,acc1,acc2,acc3,acc4,acc5,acc6,acc7,temp;
-  float32x2_t accum = vdup_n_f32(0);
-  float32_t *pIn1B = pSrcA->pData;    
-  float32_t *pIn1C = pSrcA->pData;    
-  float32_t *pIn1D = pSrcA->pData;  
-  float32_t *pIn1E = pSrcA->pData; 
-  float32_t *pIn1F = pSrcA->pData; 
-  float32_t *pIn1G = pSrcA->pData; 
-  float32_t *pIn1H = pSrcA->pData;   
-
-  float32_t *pxB,*pxC, *pxD, *pxE, *pxF, *pxG, *pxH;                                 /* Temporary output data matrix pointer */
-  float32_t sum0,sum1, sum2,sum3, sum4, sum5 , sum6, sum7;
-
-#ifdef ARM_MATH_MATRIX_CHECK
-
-  /* Check for matrix mismatch condition */
-  if ((pSrcA->numCols != pSrcB->numRows) ||
-     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */
-  {
-    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
-    /* Row loop */
-    rowCnt = row >> 3;
-
-    while(rowCnt > 0)
-    {
-      /* Output pointer is set to starting address of the row being processed */
-      px = pOut + GROUPOFROWS*i;
-      pxB = px + numColsB;
-      pxC = px + 2*numColsB;
-      pxD = px + 3*numColsB;
-      pxE = px + 4*numColsB;
-      pxF = px + 5*numColsB;
-      pxG = px + 6*numColsB;
-      pxH = px + 7*numColsB;
-
-      /* For every row wise process, the column loop counter is to be initiated */
-      col = numColsB;
-
-      /* For every row wise process, the pIn2 pointer is set
-       ** to the starting address of the pSrcB data */
-      pIn2 = pSrcB->pData;
-
-      j = 0U;
-
-      /* Column loop */
-      do
-      {
-        /* Set the variable sum, that acts as accumulator, to zero */
-        sum0 = 0.0f;
-        sum1 = 0.0f;
-        sum2 = 0.0f;
-        sum3 = 0.0f;
-        sum4 = 0.0f;
-        sum5 = 0.0f;
-        sum6 = 0.0f;
-        sum7 = 0.0f;
-
-        /* Initiate the pointer pIn1 to point to the starting address of the column being processed */
-        pIn1 = pInA;
-        pIn1B = pIn1 + numColsA;
-        pIn1C = pIn1 + 2*numColsA;
-        pIn1D = pIn1 + 3*numColsA;
-        pIn1E = pIn1 + 4*numColsA;
-        pIn1F = pIn1 + 5*numColsA;
-        pIn1G = pIn1 + 6*numColsA;
-        pIn1H = pIn1 + 7*numColsA;
-
-        acc0 = vdupq_n_f32(0.0);
-        acc1 = vdupq_n_f32(0.0);
-        acc2 = vdupq_n_f32(0.0);
-        acc3 = vdupq_n_f32(0.0);
-        acc4 = vdupq_n_f32(0.0);
-        acc5 = vdupq_n_f32(0.0);
-        acc6 = vdupq_n_f32(0.0);
-        acc7 = vdupq_n_f32(0.0);
-
-        /* Compute 4 MACs simultaneously. */
-        colCnt = numColsA >> 2U;
-
-        /* Matrix multiplication */
-        while (colCnt > 0U)
-        {
-          /* c(m,n) = a(1,1)*b(1,1) + a(1,2)*b(2,1) + ... + a(m,p)*b(p,n) */
-          a0V = vld1q_f32(pIn1);  
-          a1V = vld1q_f32(pIn1B);  
-          a2V = vld1q_f32(pIn1C); 
-          a3V = vld1q_f32(pIn1D); 
-          a4V = vld1q_f32(pIn1E); 
-          a5V = vld1q_f32(pIn1F); 
-          a6V = vld1q_f32(pIn1G); 
-          a7V = vld1q_f32(pIn1H); 
-
-	      pIn1 += 4;
-          pIn1B += 4;
-          pIn1C += 4;
-          pIn1D += 4;
-          pIn1E += 4;
-          pIn1F += 4;
-          pIn1G += 4;
-          pIn1H += 4;
-          
-          temp = vsetq_lane_f32(*pIn2,temp,0);
-          pIn2 += numColsB;
-          temp = vsetq_lane_f32(*pIn2,temp,1);
-          pIn2 += numColsB;
-          temp = vsetq_lane_f32(*pIn2,temp,2);
-          pIn2 += numColsB;
-          temp = vsetq_lane_f32(*pIn2,temp,3);
-          pIn2 += numColsB;
-
-          acc0 = vmlaq_f32(acc0,a0V,temp);
-          acc1 = vmlaq_f32(acc1,a1V,temp);
-          acc2 = vmlaq_f32(acc2,a2V,temp);
-          acc3 = vmlaq_f32(acc3,a3V,temp);
-          acc4 = vmlaq_f32(acc4,a4V,temp);
-          acc5 = vmlaq_f32(acc5,a5V,temp);
-          acc6 = vmlaq_f32(acc6,a6V,temp);
-          acc7 = vmlaq_f32(acc7,a7V,temp);
-
-          /* Decrement the loop count */
-          colCnt--;
-        }
-
-        accum = vpadd_f32(vget_low_f32(acc0), vget_high_f32(acc0));
-        sum0 += vget_lane_f32(accum, 0) + vget_lane_f32(accum, 1);
-
-        accum = vpadd_f32(vget_low_f32(acc1), vget_high_f32(acc1));
-        sum1 += vget_lane_f32(accum, 0) + vget_lane_f32(accum, 1);
-
-        accum = vpadd_f32(vget_low_f32(acc2), vget_high_f32(acc2));
-        sum2 += vget_lane_f32(accum, 0) + vget_lane_f32(accum, 1);
-
-        accum = vpadd_f32(vget_low_f32(acc3), vget_high_f32(acc3));
-        sum3 += vget_lane_f32(accum, 0) + vget_lane_f32(accum, 1);
-
-        accum = vpadd_f32(vget_low_f32(acc4), vget_high_f32(acc4));
-        sum4 += vget_lane_f32(accum, 0) + vget_lane_f32(accum, 1);
-
-        accum = vpadd_f32(vget_low_f32(acc5), vget_high_f32(acc5));
-        sum5 += vget_lane_f32(accum, 0) + vget_lane_f32(accum, 1);
-
-        accum = vpadd_f32(vget_low_f32(acc6), vget_high_f32(acc6));
-        sum6 += vget_lane_f32(accum, 0) + vget_lane_f32(accum, 1);
-
-        accum = vpadd_f32(vget_low_f32(acc7), vget_high_f32(acc7));
-        sum7 += vget_lane_f32(accum, 0) + vget_lane_f32(accum, 1);
-
-        /* If the columns of pSrcA is not a multiple of 4, compute any remaining MACs here.
-         ** No loop unrolling is used. */
-        colCnt = numColsA & 3;
-
-        while (colCnt > 0U)
-        {
-          /* c(m,n) = a(1,1)*b(1,1) + a(1,2)*b(2,1) + ... + a(m,p)*b(p,n) */
-          sum0 += *pIn1++ * (*pIn2);
-          sum1 += *pIn1B++ * (*pIn2);
-          sum2 += *pIn1C++ * (*pIn2);
-          sum3 += *pIn1D++ * (*pIn2);
-          sum4 += *pIn1E++ * (*pIn2);
-          sum5 += *pIn1F++ * (*pIn2);
-          sum6 += *pIn1G++ * (*pIn2);
-          sum7 += *pIn1H++ * (*pIn2);
-          pIn2 += numColsB;
-
-          /* Decrement the loop counter */
-          colCnt--;
-        }
-
-        /* Store the result in the destination buffer */
-        *px++ = sum0;
-        *pxB++ = sum1;
-        *pxC++ = sum2;
-        *pxD++ = sum3;
-        *pxE++ = sum4;
-        *pxF++ = sum5;
-        *pxG++ = sum6;
-        *pxH++ = sum7;
-
-        /* Update the pointer pIn2 to point to the  starting address of the next column */
-        j++;
-        pIn2 = pSrcB->pData + j;
-
-        /* Decrement the column loop counter */
-        col--;
-
-      } while (col > 0U);
-
-      /* Update the pointer pInA to point to the  starting address of the next row */
-      i = i + numColsB;
-      pInA = pInA + GROUPOFROWS*numColsA;
-
-      /* Decrement the row loop counter */
-      rowCnt--;
-    } 
-
-    /*
-
-    i was the index of a group of rows computed by previous loop.
-    Now i is the index of a row since below code is computing row per row
-    and no more group of row per group of rows.
-
-    */
-
-    i = GROUPOFROWS*i;
-    rowCnt = row & 7;
-
-    while(rowCnt > 0)
-    {
-      /* Output pointer is set to starting address of the row being processed */
-      px = pOut + i;
-
-      /* For every row wise process, the column loop counter is to be initiated */
-      col = numColsB;
-
-      /* For every row wise process, the pIn2 pointer is set
-       ** to the starting address of the pSrcB data */
-      pIn2 = pSrcB->pData;
-
-      j = 0U;
-
-      /* Column loop */
-      do
-      {
-        /* Set the variable sum, that acts as accumulator, to zero */
-        sum = 0.0f;
-
-        /* Initiate the pointer pIn1 to point to the starting address of the column being processed */
-        pIn1 = pInA;
-
-        acc0 = vdupq_n_f32(0.0);
-
-        /* Compute 4 MACs simultaneously. */
-        colCnt = numColsA >> 2U;
-
-        /* Matrix multiplication   */
-        while (colCnt > 0U)
-        {
-          /* c(m,n) = a(1,1)*b(1,1) + a(1,2)*b(2,1) + ... + a(m,p)*b(p,n) */
-          a0V = vld1q_f32(pIn1);  // load & separate real/imag pSrcA (de-interleave 2)
-          pIn1 += 4;
-          
-          temp = vsetq_lane_f32(*pIn2,temp,0);
-          pIn2 += numColsB;
-          temp = vsetq_lane_f32(*pIn2,temp,1);
-          pIn2 += numColsB;
-          temp = vsetq_lane_f32(*pIn2,temp,2);
-          pIn2 += numColsB;
-          temp = vsetq_lane_f32(*pIn2,temp,3);
-          pIn2 += numColsB;
-
-          acc0 = vmlaq_f32(acc0,a0V,temp);
-
-          /* Decrement the loop count */
-          colCnt--;
-        }
-
-        accum = vpadd_f32(vget_low_f32(acc0), vget_high_f32(acc0));
-        sum += vget_lane_f32(accum, 0) + vget_lane_f32(accum, 1);
-
-        /* If the columns of pSrcA is not a multiple of 4, compute any remaining MACs here.
-         ** No loop unrolling is used. */
-        colCnt = numColsA % 0x4U;
-
-        while (colCnt > 0U)
-        {
-          /* c(m,n) = a(1,1)*b(1,1) + a(1,2)*b(2,1) + ... + a(m,p)*b(p,n) */
-          sum += *pIn1++ * (*pIn2);
-          pIn2 += numColsB;
-
-          /* Decrement the loop counter */
-          colCnt--;
-        }
-
-        /* Store the result in the destination buffer */
-        *px++ = sum;
-
-        /* Update the pointer pIn2 to point to the  starting address of the next column */
-        j++;
-        pIn2 = pSrcB->pData + j;
-
-        /* Decrement the column loop counter */
-        col--;
-
-      } while (col > 0U);
-
-
-      /* Update the pointer pInA to point to the  starting address of the next row */
-      i = i + numColsB;
-      pInA = pInA + numColsA;
-
-      /* Decrement the row loop counter */
-      rowCnt--;
-
-    } 
-    /* Set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-}
-#else
-/**
- * @brief Floating-point matrix multiplication.
- * @param[in]       *pSrcA points to the first input matrix structure
- * @param[in]       *pSrcB points to the second input matrix structure
- * @param[out]      *pDst points to output matrix structure
- * @return          The function returns either
- * <code>ARM_MATH_SIZE_MISMATCH</code> or <code>ARM_MATH_SUCCESS</code> based on the outcome of size checking.
- */
-arm_status arm_mat_mult_f32(
-  const arm_matrix_instance_f32 * pSrcA,
-  const arm_matrix_instance_f32 * pSrcB,
-        arm_matrix_instance_f32 * pDst)
-{
-  float32_t *pIn1 = pSrcA->pData;                /* Input data matrix pointer A */
-  float32_t *pIn2 = pSrcB->pData;                /* Input data matrix pointer B */
-  float32_t *pInA = pSrcA->pData;                /* Input data matrix pointer A */
-  float32_t *pInB = pSrcB->pData;                /* Input data matrix pointer B */
-  float32_t *pOut = pDst->pData;                 /* Output data matrix pointer */
-  float32_t *px;                                 /* Temporary output data matrix pointer */
-  float32_t sum;                                 /* Accumulator */
-  uint16_t numRowsA = pSrcA->numRows;            /* Number of rows of input matrix A */
-  uint16_t numColsB = pSrcB->numCols;            /* Number of columns of input matrix B */
-  uint16_t numColsA = pSrcA->numCols;            /* Number of columns of input matrix A */
-  uint32_t col, i = 0U, row = numRowsA, colCnt;  /* Loop counters */
-  arm_status status;                             /* Status of matrix multiplication */
-
-#ifdef ARM_MATH_MATRIX_CHECK
-
-  /* Check for matrix mismatch condition */
-  if ((pSrcA->numCols != pSrcB->numRows) ||
-      (pSrcA->numRows != pDst->numRows)  ||
-      (pSrcB->numCols != pDst->numCols)    )
-  {
-    /* Set status as ARM_MATH_SIZE_MISMATCH */
-    status = ARM_MATH_SIZE_MISMATCH;
-  }
-  else
-
-#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
-
-  {
-    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
-    /* row loop */
-    do
-    {
-      /* Output pointer is set to starting address of row being processed */
-      px = pOut + i;
-
-      /* For every row wise process, column loop counter is to be initiated */
-      col = numColsB;
-
-      /* For every row wise process, pIn2 pointer is set to starting address of pSrcB data */
-      pIn2 = pSrcB->pData;
-
-      /* column loop */
-      do
-      {
-        /* Set the variable sum, that acts as accumulator, to zero */
-        sum = 0.0f;
-
-        /* Initialize pointer pIn1 to point to starting address of column being processed */
-        pIn1 = pInA;
-
-#if defined (ARM_MATH_LOOPUNROLL)
-
-        /* Loop unrolling: Compute 4 MACs at a time. */
-        colCnt = numColsA >> 2U;
-
-        /* matrix multiplication */
-        while (colCnt > 0U)
-        {
-          /* c(m,p) = a(m,1) * b(1,p) + a(m,2) * b(2,p) + .... + a(m,n) * b(n,p) */
-
-          /* Perform the multiply-accumulates */
-          sum += *pIn1++ * *pIn2;
-          pIn2 += numColsB;
-
-          sum += *pIn1++ * *pIn2;
-          pIn2 += numColsB;
-
-          sum += *pIn1++ * *pIn2;
-          pIn2 += numColsB;
-
-          sum += *pIn1++ * *pIn2;
-          pIn2 += numColsB;
-
-          /* Decrement loop counter */
-          colCnt--;
-        }
-
-        /* Loop unrolling: Compute remaining MACs */
-        colCnt = numColsA % 0x4U;
-
-#else
-
-        /* Initialize cntCnt with number of columns */
-        colCnt = numColsA;
-
-#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
-
-        while (colCnt > 0U)
-        {
-          /* c(m,p) = a(m,1) * b(1,p) + a(m,2) * b(2,p) + .... + a(m,n) * b(n,p) */
-
-          /* Perform the multiply-accumulates */
-          sum += *pIn1++ * *pIn2;
-          pIn2 += numColsB;
-
-          /* Decrement loop counter */
-          colCnt--;
-        }
-
-        /* Store result in destination buffer */
-        *px++ = sum;
-
-        /* Decrement column loop counter */
-        col--;
-
-        /* Update pointer pIn2 to point to starting address of next column */
-        pIn2 = pInB + (numColsB - col);
-
-      } while (col > 0U);
-
-      /* Update pointer pInA to point to starting address of next row */
-      i = i + numColsB;
-      pInA = pInA + numColsA;
-
-      /* Decrement row loop counter */
-      row--;
-
-    } while (row > 0U);
-
-    /* Set status as ARM_MATH_SUCCESS */
-    status = ARM_MATH_SUCCESS;
-  }
-
-  /* Return to application */
-  return (status);
-}
-
-#endif /* #if defined(ARM_MATH_NEON) */
-#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
-
-/**
- * @} end of MatrixMult group
- */
+/* ----------------------------------------------------------------------

+ * Project:      CMSIS DSP Library

+ * Title:        arm_mat_mult_f32.c

+ * Description:  Floating-point matrix multiplication

+ *

+ * $Date:        18. March 2019

+ * $Revision:    V1.6.0

+ *

+ * Target Processor: Cortex-M cores

+ * -------------------------------------------------------------------- */

+/*

+ * Copyright (C) 2010-2019 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.

+ */

+

+#include "arm_math.h"

+

+/**

+ * @ingroup groupMatrix

+ */

+

+/**

+ * @defgroup MatrixMult Matrix Multiplication

+ *

+ * Multiplies two matrices.

+ *

+ * \image html MatrixMultiplication.gif "Multiplication of two 3 x 3 matrices"

+

+ * Matrix multiplication is only defined if the number of columns of the

+ * first matrix equals the number of rows of the second matrix.

+ * Multiplying an <code>M x N</code> matrix with an <code>N x P</code> matrix results

+ * in an <code>M x P</code> matrix.

+ * When matrix size checking is enabled, the functions check: (1) that the inner dimensions of

+ * <code>pSrcA</code> and <code>pSrcB</code> are equal; and (2) that the size of the output

+ * matrix equals the outer dimensions of <code>pSrcA</code> and <code>pSrcB</code>.

+ */

+

+

+/**

+ * @addtogroup MatrixMult

+ * @{

+ */

+

+/**

+ * @brief Floating-point matrix multiplication.

+ * @param[in]       *pSrcA points to the first input matrix structure

+ * @param[in]       *pSrcB points to the second input matrix structure

+ * @param[out]      *pDst points to output matrix structure

+ * @return     		The function returns either

+ * <code>ARM_MATH_SIZE_MISMATCH</code> or <code>ARM_MATH_SUCCESS</code> based on the outcome of size checking.

+ */

+#if defined(ARM_MATH_NEON)

+

+#define GROUPOFROWS 8

+

+arm_status arm_mat_mult_f32(

+  const arm_matrix_instance_f32 * pSrcA,

+  const arm_matrix_instance_f32 * pSrcB,

+  arm_matrix_instance_f32 * pDst)

+{

+  float32_t *pIn1 = pSrcA->pData;                /* input data matrix pointer A */

+  float32_t *pIn2 = pSrcB->pData;                /* input data matrix pointer B */

+  float32_t *pInA = pSrcA->pData;                /* input data matrix pointer A  */

+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */

+  float32_t *px;                                 /* Temporary output data matrix pointer */

+  float32_t sum;                                 /* Accumulator */

+  uint16_t numRowsA = pSrcA->numRows;            /* number of rows of input matrix A */

+  uint16_t numColsB = pSrcB->numCols;            /* number of columns of input matrix B */

+  uint16_t numColsA = pSrcA->numCols;            /* number of columns of input matrix A */

+

+

+  float32_t in1, in2, in3, in4;

+  uint16_t col, i = 0U, j, row = numRowsA, rowCnt, colCnt;      /* loop counters */

+  arm_status status;                             /* status of matrix multiplication */

+

+  float32x4_t a0V, a1V, a2V, a3V, a4V, a5V, a6V, a7V;

+  float32x4_t acc0,acc1,acc2,acc3,acc4,acc5,acc6,acc7,temp;

+  float32x2_t accum = vdup_n_f32(0);

+  float32_t *pIn1B = pSrcA->pData;    

+  float32_t *pIn1C = pSrcA->pData;    

+  float32_t *pIn1D = pSrcA->pData;  

+  float32_t *pIn1E = pSrcA->pData; 

+  float32_t *pIn1F = pSrcA->pData; 

+  float32_t *pIn1G = pSrcA->pData; 

+  float32_t *pIn1H = pSrcA->pData;   

+

+  float32_t *pxB,*pxC, *pxD, *pxE, *pxF, *pxG, *pxH;                                 /* Temporary output data matrix pointer */

+  float32_t sum0,sum1, sum2,sum3, sum4, sum5 , sum6, sum7;

+

+#ifdef ARM_MATH_MATRIX_CHECK

+

+  /* Check for matrix mismatch condition */

+  if ((pSrcA->numCols != pSrcB->numRows) ||

+     (pSrcA->numRows != pDst->numRows) || (pSrcB->numCols != pDst->numCols))

+  {

+    /* Set status as ARM_MATH_SIZE_MISMATCH */

+    status = ARM_MATH_SIZE_MISMATCH;

+  }

+  else

+#endif /*      #ifdef ARM_MATH_MATRIX_CHECK    */

+  {

+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */

+    /* Row loop */

+    rowCnt = row >> 3;

+

+    while(rowCnt > 0)

+    {

+      /* Output pointer is set to starting address of the row being processed */

+      px = pOut + GROUPOFROWS*i;

+      pxB = px + numColsB;

+      pxC = px + 2*numColsB;

+      pxD = px + 3*numColsB;

+      pxE = px + 4*numColsB;

+      pxF = px + 5*numColsB;

+      pxG = px + 6*numColsB;

+      pxH = px + 7*numColsB;

+

+      /* For every row wise process, the column loop counter is to be initiated */

+      col = numColsB;

+

+      /* For every row wise process, the pIn2 pointer is set

+       ** to the starting address of the pSrcB data */

+      pIn2 = pSrcB->pData;

+

+      j = 0U;

+

+      /* Column loop */

+      do

+      {

+        /* Set the variable sum, that acts as accumulator, to zero */

+        sum0 = 0.0f;

+        sum1 = 0.0f;

+        sum2 = 0.0f;

+        sum3 = 0.0f;

+        sum4 = 0.0f;

+        sum5 = 0.0f;

+        sum6 = 0.0f;

+        sum7 = 0.0f;

+

+        /* Initiate the pointer pIn1 to point to the starting address of the column being processed */

+        pIn1 = pInA;

+        pIn1B = pIn1 + numColsA;

+        pIn1C = pIn1 + 2*numColsA;

+        pIn1D = pIn1 + 3*numColsA;

+        pIn1E = pIn1 + 4*numColsA;

+        pIn1F = pIn1 + 5*numColsA;

+        pIn1G = pIn1 + 6*numColsA;

+        pIn1H = pIn1 + 7*numColsA;

+

+        acc0 = vdupq_n_f32(0.0);

+        acc1 = vdupq_n_f32(0.0);

+        acc2 = vdupq_n_f32(0.0);

+        acc3 = vdupq_n_f32(0.0);

+        acc4 = vdupq_n_f32(0.0);

+        acc5 = vdupq_n_f32(0.0);

+        acc6 = vdupq_n_f32(0.0);

+        acc7 = vdupq_n_f32(0.0);

+

+        /* Compute 4 MACs simultaneously. */

+        colCnt = numColsA >> 2U;

+

+        /* Matrix multiplication */

+        while (colCnt > 0U)

+        {

+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2)*b(2,1) + ... + a(m,p)*b(p,n) */

+          a0V = vld1q_f32(pIn1);  

+          a1V = vld1q_f32(pIn1B);  

+          a2V = vld1q_f32(pIn1C); 

+          a3V = vld1q_f32(pIn1D); 

+          a4V = vld1q_f32(pIn1E); 

+          a5V = vld1q_f32(pIn1F); 

+          a6V = vld1q_f32(pIn1G); 

+          a7V = vld1q_f32(pIn1H); 

+

+	  pIn1 += 4;

+          pIn1B += 4;

+          pIn1C += 4;

+          pIn1D += 4;

+          pIn1E += 4;

+          pIn1F += 4;

+          pIn1G += 4;

+          pIn1H += 4;

+          

+          temp[0] = *pIn2;

+          pIn2 += numColsB;

+          temp[1] = *pIn2;

+          pIn2 += numColsB;

+          temp[2] = *pIn2;

+          pIn2 += numColsB;

+          temp[3] = *pIn2;

+          pIn2 += numColsB;

+

+          acc0 = vmlaq_f32(acc0,a0V,temp);

+          acc1 = vmlaq_f32(acc1,a1V,temp);

+          acc2 = vmlaq_f32(acc2,a2V,temp);

+          acc3 = vmlaq_f32(acc3,a3V,temp);

+          acc4 = vmlaq_f32(acc4,a4V,temp);

+          acc5 = vmlaq_f32(acc5,a5V,temp);

+          acc6 = vmlaq_f32(acc6,a6V,temp);

+          acc7 = vmlaq_f32(acc7,a7V,temp);

+

+          /* Decrement the loop count */

+          colCnt--;

+        }

+

+        accum = vpadd_f32(vget_low_f32(acc0), vget_high_f32(acc0));

+        sum0 += accum[0] + accum[1];

+

+        accum = vpadd_f32(vget_low_f32(acc1), vget_high_f32(acc1));

+        sum1 += accum[0] + accum[1];

+

+        accum = vpadd_f32(vget_low_f32(acc2), vget_high_f32(acc2));

+        sum2 += accum[0] + accum[1];

+

+        accum = vpadd_f32(vget_low_f32(acc3), vget_high_f32(acc3));

+        sum3 += accum[0] + accum[1];

+

+        accum = vpadd_f32(vget_low_f32(acc4), vget_high_f32(acc4));

+        sum4 += accum[0] + accum[1];

+

+        accum = vpadd_f32(vget_low_f32(acc5), vget_high_f32(acc5));

+        sum5 += accum[0] + accum[1];

+

+        accum = vpadd_f32(vget_low_f32(acc6), vget_high_f32(acc6));

+        sum6 += accum[0] + accum[1];

+

+        accum = vpadd_f32(vget_low_f32(acc7), vget_high_f32(acc7));

+        sum7 += accum[0] + accum[1];

+

+        /* If the columns of pSrcA is not a multiple of 4, compute any remaining MACs here.

+         ** No loop unrolling is used. */

+        colCnt = numColsA & 3;

+

+        while (colCnt > 0U)

+        {

+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2)*b(2,1) + ... + a(m,p)*b(p,n) */

+          sum0 += *pIn1++ * (*pIn2);

+          sum1 += *pIn1B++ * (*pIn2);

+          sum2 += *pIn1C++ * (*pIn2);

+          sum3 += *pIn1D++ * (*pIn2);

+          sum4 += *pIn1E++ * (*pIn2);

+          sum5 += *pIn1F++ * (*pIn2);

+          sum6 += *pIn1G++ * (*pIn2);

+          sum7 += *pIn1H++ * (*pIn2);

+          pIn2 += numColsB;

+

+          /* Decrement the loop counter */

+          colCnt--;

+        }

+

+        /* Store the result in the destination buffer */

+        *px++ = sum0;

+        *pxB++ = sum1;

+        *pxC++ = sum2;

+        *pxD++ = sum3;

+        *pxE++ = sum4;

+        *pxF++ = sum5;

+        *pxG++ = sum6;

+        *pxH++ = sum7;

+

+        /* Update the pointer pIn2 to point to the  starting address of the next column */

+        j++;

+        pIn2 = pSrcB->pData + j;

+

+        /* Decrement the column loop counter */

+        col--;

+

+      } while (col > 0U);

+

+      /* Update the pointer pInA to point to the  starting address of the next row */

+      i = i + numColsB;

+      pInA = pInA + GROUPOFROWS*numColsA;

+

+      /* Decrement the row loop counter */

+      rowCnt--;

+    } 

+

+    /*

+

+    i was the index of a group of rows computed by previous loop.

+    Now i is the index of a row since below code is computing row per row

+    and no more group of row per group of rows.

+

+    */

+

+    i = GROUPOFROWS*i;

+    rowCnt = row & 7;

+

+    while(rowCnt > 0)

+    {

+      /* Output pointer is set to starting address of the row being processed */

+      px = pOut + i;

+

+      /* For every row wise process, the column loop counter is to be initiated */

+      col = numColsB;

+

+      /* For every row wise process, the pIn2 pointer is set

+       ** to the starting address of the pSrcB data */

+      pIn2 = pSrcB->pData;

+

+      j = 0U;

+

+      /* Column loop */

+      do

+      {

+        /* Set the variable sum, that acts as accumulator, to zero */

+        sum = 0.0f;

+

+        /* Initiate the pointer pIn1 to point to the starting address of the column being processed */

+        pIn1 = pInA;

+

+        acc0 = vdupq_n_f32(0.0);

+

+        /* Compute 4 MACs simultaneously. */

+        colCnt = numColsA >> 2U;

+

+        /* Matrix multiplication   */

+        while (colCnt > 0U)

+        {

+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2)*b(2,1) + ... + a(m,p)*b(p,n) */

+          a0V = vld1q_f32(pIn1);  // load & separate real/imag pSrcA (de-interleave 2)

+          pIn1 += 4;

+          

+          temp[0] = *pIn2;

+          pIn2 += numColsB;

+          temp[1] = *pIn2;

+          pIn2 += numColsB;

+          temp[2] = *pIn2;

+          pIn2 += numColsB;

+          temp[3] = *pIn2;

+          pIn2 += numColsB;

+

+          acc0 = vmlaq_f32(acc0,a0V,temp);

+

+          /* Decrement the loop count */

+          colCnt--;

+        }

+

+        accum = vpadd_f32(vget_low_f32(acc0), vget_high_f32(acc0));

+        sum += accum[0] + accum[1];

+

+        /* If the columns of pSrcA is not a multiple of 4, compute any remaining MACs here.

+         ** No loop unrolling is used. */

+        colCnt = numColsA % 0x4U;

+

+        while (colCnt > 0U)

+        {

+          /* c(m,n) = a(1,1)*b(1,1) + a(1,2)*b(2,1) + ... + a(m,p)*b(p,n) */

+          sum += *pIn1++ * (*pIn2);

+          pIn2 += numColsB;

+

+          /* Decrement the loop counter */

+          colCnt--;

+        }

+

+        /* Store the result in the destination buffer */

+        *px++ = sum;

+

+        /* Update the pointer pIn2 to point to the  starting address of the next column */

+        j++;

+        pIn2 = pSrcB->pData + j;

+

+        /* Decrement the column loop counter */

+        col--;

+

+      } while (col > 0U);

+

+

+      /* Update the pointer pInA to point to the  starting address of the next row */

+      i = i + numColsB;

+      pInA = pInA + numColsA;

+

+      /* Decrement the row loop counter */

+      rowCnt--;

+

+    } 

+    /* Set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+}

+#else

+arm_status arm_mat_mult_f32(

+  const arm_matrix_instance_f32 * pSrcA,

+  const arm_matrix_instance_f32 * pSrcB,

+        arm_matrix_instance_f32 * pDst)

+{

+  float32_t *pIn1 = pSrcA->pData;                /* Input data matrix pointer A */

+  float32_t *pIn2 = pSrcB->pData;                /* Input data matrix pointer B */

+  float32_t *pInA = pSrcA->pData;                /* Input data matrix pointer A */

+  float32_t *pInB = pSrcB->pData;                /* Input data matrix pointer B */

+  float32_t *pOut = pDst->pData;                 /* Output data matrix pointer */

+  float32_t *px;                                 /* Temporary output data matrix pointer */

+  float32_t sum;                                 /* Accumulator */

+  uint16_t numRowsA = pSrcA->numRows;            /* Number of rows of input matrix A */

+  uint16_t numColsB = pSrcB->numCols;            /* Number of columns of input matrix B */

+  uint16_t numColsA = pSrcA->numCols;            /* Number of columns of input matrix A */

+  uint32_t col, i = 0U, row = numRowsA, colCnt;  /* Loop counters */

+  arm_status status;                             /* Status of matrix multiplication */

+

+#ifdef ARM_MATH_MATRIX_CHECK

+

+  /* Check for matrix mismatch condition */

+  if ((pSrcA->numCols != pSrcB->numRows) ||

+      (pSrcA->numRows != pDst->numRows)  ||

+      (pSrcB->numCols != pDst->numCols)    )

+  {

+    /* Set status as ARM_MATH_SIZE_MISMATCH */

+    status = ARM_MATH_SIZE_MISMATCH;

+  }

+  else

+

+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */

+

+  {

+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */

+    /* row loop */

+    do

+    {

+      /* Output pointer is set to starting address of row being processed */

+      px = pOut + i;

+

+      /* For every row wise process, column loop counter is to be initiated */

+      col = numColsB;

+

+      /* For every row wise process, pIn2 pointer is set to starting address of pSrcB data */

+      pIn2 = pSrcB->pData;

+

+      /* column loop */

+      do

+      {

+        /* Set the variable sum, that acts as accumulator, to zero */

+        sum = 0.0f;

+

+        /* Initialize pointer pIn1 to point to starting address of column being processed */

+        pIn1 = pInA;

+

+#if defined (ARM_MATH_LOOPUNROLL)

+

+        /* Loop unrolling: Compute 4 MACs at a time. */

+        colCnt = numColsA >> 2U;

+

+        /* matrix multiplication */

+        while (colCnt > 0U)

+        {

+          /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */

+

+          /* Perform the multiply-accumulates */

+          sum += *pIn1++ * *pIn2;

+          pIn2 += numColsB;

+

+          sum += *pIn1++ * *pIn2;

+          pIn2 += numColsB;

+

+          sum += *pIn1++ * *pIn2;

+          pIn2 += numColsB;

+

+          sum += *pIn1++ * *pIn2;

+          pIn2 += numColsB;

+

+          /* Decrement loop counter */

+          colCnt--;

+        }

+

+        /* Loop unrolling: Compute remaining MACs */

+        colCnt = numColsA % 0x4U;

+

+#else

+

+        /* Initialize cntCnt with number of columns */

+        colCnt = numColsA;

+

+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */

+

+        while (colCnt > 0U)

+        {

+          /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */

+

+          /* Perform the multiply-accumulates */

+          sum += *pIn1++ * *pIn2;

+          pIn2 += numColsB;

+

+          /* Decrement loop counter */

+          colCnt--;

+        }

+

+        /* Store result in destination buffer */

+        *px++ = sum;

+

+        /* Decrement column loop counter */

+        col--;

+

+        /* Update pointer pIn2 to point to starting address of next column */

+        pIn2 = pInB + (numColsB - col);

+

+      } while (col > 0U);

+

+      /* Update pointer pInA to point to starting address of next row */

+      i = i + numColsB;

+      pInA = pInA + numColsA;

+

+      /* Decrement row loop counter */

+      row--;

+

+    } while (row > 0U);

+

+    /* Set status as ARM_MATH_SUCCESS */

+    status = ARM_MATH_SUCCESS;

+  }

+

+  /* Return to application */

+  return (status);

+}

+

+#endif /* #if defined(ARM_MATH_NEON) */

+

+/**

+ * @} end of MatrixMult group

+ */