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diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_f32.c
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+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_trans_f32.c
+ * Description:  Floating-point matrix transpose
+ *
+ * $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"
+
+/**
+  @ingroup groupMatrix
+ */
+
+/**
+  @defgroup MatrixTrans Matrix Transpose
+
+  Tranposes a matrix.
+
+  Transposing an <code>M x N</code> matrix flips it around the center diagonal and results in an <code>N x M</code> matrix.
+  \image html MatrixTranspose.gif "Transpose of a 3 x 3 matrix"
+ */
+
+/**
+  @addtogroup MatrixTrans
+  @{
+ */
+
+/**
+  @brief         Floating-point matrix transpose.
+  @param[in]     pSrc      points to input matrix
+  @param[out]    pDst      points to output matrix
+  @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+ */
+#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+arm_status arm_mat_trans_f32(
+  const arm_matrix_instance_f32 * pSrc,
+  arm_matrix_instance_f32 * pDst)
+{
+  arm_status status;                             /* status of matrix transpose  */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+  {
+    if (pDst->numRows == pDst->numCols)
+    {
+        if (pDst->numCols == 2)
+            return arm_mat_trans_32bit_2x2_mve((uint32_t *)pSrc->pData, (uint32_t *)pDst->pData);
+        if (pDst->numCols == 3)
+            return arm_mat_trans_32bit_3x3_mve((uint32_t *)pSrc->pData, (uint32_t *)pDst->pData);
+        if (pDst->numCols == 4)
+            return arm_mat_trans_32bit_4x4_mve((uint32_t *)pSrc->pData, (uint32_t *)pDst->pData);
+    }
+
+    arm_mat_trans_32bit_generic_mve(pSrc->numRows, pSrc->numCols, (uint32_t *)pSrc->pData, (uint32_t *)pDst->pData);
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+#else
+#if defined(ARM_MATH_NEON)
+
+arm_status arm_mat_trans_f32(
+  const arm_matrix_instance_f32 * pSrc,
+  arm_matrix_instance_f32 * pDst)
+{
+  float32_t *pIn = pSrc->pData;                  /* input data matrix pointer */
+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */
+  float32_t *px;                                 /* Temporary output data matrix pointer */
+  uint16_t nRows = pSrc->numRows;                /* number of rows */
+  uint16_t nColumns = pSrc->numCols;             /* number of columns */
+
+  uint16_t blkCnt, rowCnt, i = 0U, row = nRows;          /* loop counters */
+  arm_status status;                             /* status of matrix transpose  */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pDst->numCols) || (pSrc->numCols != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+    /* Matrix transpose by exchanging the rows with columns */
+    /* Row loop */
+    rowCnt = row >> 2;
+    while (rowCnt > 0U)
+    {
+      float32x4_t row0V,row1V,row2V,row3V;
+      float32x4x2_t ra0,ra1,rb0,rb1;
+
+      blkCnt = nColumns >> 2;
+
+      /* The pointer px is set to starting address of the column being processed */
+      px = pOut + i;
+
+      /* Compute 4 outputs at a time.
+       ** a second loop below computes the remaining 1 to 3 samples. */
+      while (blkCnt > 0U)        /* Column loop */
+      {
+        row0V = vld1q_f32(pIn);
+        row1V = vld1q_f32(pIn + 1 * nColumns);
+        row2V = vld1q_f32(pIn + 2 * nColumns);
+        row3V = vld1q_f32(pIn + 3 * nColumns);
+        pIn += 4;
+
+        ra0 = vzipq_f32(row0V,row2V);
+        ra1 = vzipq_f32(row1V,row3V);
+
+        rb0 = vzipq_f32(ra0.val[0],ra1.val[0]);
+        rb1 = vzipq_f32(ra0.val[1],ra1.val[1]);
+
+        vst1q_f32(px,rb0.val[0]);
+        px += nRows;
+
+        vst1q_f32(px,rb0.val[1]);
+        px += nRows;
+
+        vst1q_f32(px,rb1.val[0]);
+        px += nRows;
+
+        vst1q_f32(px,rb1.val[1]);
+        px += nRows;
+
+        /* Decrement the column loop counter */
+        blkCnt--;
+      }
+
+      /* Perform matrix transpose for last 3 samples here. */
+      blkCnt = nColumns % 0x4U;
+
+      while (blkCnt > 0U)
+      {
+        /* Read and store the input element in the destination */
+        *px++ = *pIn;
+        *px++ = *(pIn + 1 * nColumns);
+        *px++ = *(pIn + 2 * nColumns);
+        *px++ = *(pIn + 3 * nColumns);
+        
+        px += (nRows - 4);
+        pIn++;
+
+        /* Decrement the column loop counter */
+        blkCnt--;
+      }
+
+      i += 4;
+      pIn += 3 * nColumns;
+
+      /* Decrement the row loop counter */
+      rowCnt--;
+
+    }         /* Row loop end  */
+
+    rowCnt = row & 3;
+    while (rowCnt > 0U)
+    {
+      blkCnt = nColumns ;
+      /* The pointer px is set to starting address of the column being processed */
+      px = pOut + i;
+
+      while (blkCnt > 0U)
+      {
+        /* Read and store the input element in the destination */
+        *px = *pIn++;
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += nRows;
+
+        /* Decrement the column loop counter */
+        blkCnt--;
+      }
+      i++;
+      rowCnt -- ;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+#else
+arm_status arm_mat_trans_f32(
+  const arm_matrix_instance_f32 * pSrc,
+        arm_matrix_instance_f32 * pDst)
+{
+  float32_t *pIn = pSrc->pData;                  /* input data matrix pointer */
+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */
+  float32_t *px;                                 /* Temporary output data matrix pointer */
+  uint16_t nRows = pSrc->numRows;                /* number of rows */
+  uint16_t nCols = pSrc->numCols;                /* number of columns */
+  uint32_t col, row = nRows, i = 0U;             /* Loop counters */
+  arm_status status;                             /* status of matrix transpose */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pDst->numCols) ||
+      (pSrc->numCols != pDst->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* Matrix transpose by exchanging the rows with columns */
+    /* row loop */
+    do
+    {
+      /* Pointer px is set to starting address of column being processed */
+      px = pOut + i;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+      /* Loop unrolling: Compute 4 outputs at a time */
+      col = nCols >> 2U;
+
+      while (col > 0U)        /* column loop */
+      {
+        /* Read and store input element in destination */
+        *px = *pIn++;
+        /* Update pointer px to point to next row of transposed matrix */
+        px += nRows;
+
+        *px = *pIn++;
+        px += nRows;
+
+        *px = *pIn++;
+        px += nRows;
+
+        *px = *pIn++;
+        px += nRows;
+
+        /* Decrement column loop counter */
+        col--;
+      }
+
+      /* Loop unrolling: Compute remaining outputs */
+      col = nCols % 0x4U;
+
+#else
+
+      /* Initialize col with number of samples */
+      col = nCols;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+      while (col > 0U)
+      {
+        /* Read and store input element in destination */
+        *px = *pIn++;
+
+        /* Update pointer px to point to next row of transposed matrix */
+        px += nRows;
+
+        /* Decrement column loop counter */
+        col--;
+      }
+
+      i++;
+
+      /* Decrement row loop counter */
+      row--;
+
+    } while (row > 0U);          /* row loop end */
+
+    /* 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 MatrixTrans group
+ */