initial commit

62 files changed, 23176 insertions, 0 deletions

diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/CMakeLists.txt b/Drivers/CMSIS/DSP/Source/MatrixFunctions/CMakeLists.txt
new file mode 100644
index 0000000..f2b3211
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/CMakeLists.txt
@@ -0,0 +1,54 @@
+cmake_minimum_required (VERSION 3.14)
+
+project(CMSISDSPMatrix)
+
+include(configLib)
+include(configDsp)
+
+file(GLOB SRCF64 "./*_f64.c")
+file(GLOB SRCF32 "./*_f32.c")
+file(GLOB SRCF16 "./*_f16.c")
+file(GLOB SRCQ31 "./*_q31.c")
+file(GLOB SRCQ15 "./*_q15.c")
+file(GLOB SRCQ7  "./*_q7.c")
+
+file(GLOB SRCU32 "./*_u32.c")
+file(GLOB SRCU16 "./*_u16.c")
+file(GLOB SRCU8  "./*_u8.c")
+
+add_library(CMSISDSPMatrix STATIC ${SRCF64})
+target_sources(CMSISDSPMatrix PRIVATE ${SRCF32})
+
+if ((NOT ARMAC5) AND (NOT DISABLEFLOAT16))
+target_sources(CMSISDSPMatrix PRIVATE ${SRCF16})
+endif()
+
+target_sources(CMSISDSPMatrix PRIVATE ${SRCQ31})
+target_sources(CMSISDSPMatrix PRIVATE ${SRCQ15})
+target_sources(CMSISDSPMatrix PRIVATE ${SRCQ7})
+
+target_sources(CMSISDSPMatrix PRIVATE ${SRCU32})
+target_sources(CMSISDSPMatrix PRIVATE ${SRCU16})
+target_sources(CMSISDSPMatrix PRIVATE ${SRCU8})
+
+configLib(CMSISDSPMatrix ${ROOT})
+configDsp(CMSISDSPMatrix ${ROOT})
+
+### Includes
+target_include_directories(CMSISDSPMatrix PUBLIC "${DSP}/Include")
+
+
+if ((NOT ARMAC5) AND (NOT DISABLEFLOAT16))
+target_sources(CMSISDSPMatrix PRIVATE arm_mat_add_f16.c)
+target_sources(CMSISDSPMatrix PRIVATE arm_mat_sub_f16.c)
+target_sources(CMSISDSPMatrix PRIVATE arm_mat_trans_f16.c)
+target_sources(CMSISDSPMatrix PRIVATE arm_mat_scale_f16.c)
+target_sources(CMSISDSPMatrix PRIVATE arm_mat_mult_f16.c)
+target_sources(CMSISDSPMatrix PRIVATE arm_mat_vec_mult_f16.c)
+target_sources(CMSISDSPMatrix PRIVATE arm_mat_cmplx_trans_f16.c)
+target_sources(CMSISDSPMatrix PRIVATE arm_mat_cmplx_mult_f16.c)
+target_sources(CMSISDSPMatrix PRIVATE arm_mat_inverse_f16.c)
+target_sources(CMSISDSPMatrix PRIVATE arm_mat_init_f16.c)
+target_sources(CMSISDSPMatrix PRIVATE arm_mat_cholesky_f16.c)
+
+endif()
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/MatrixFunctions.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/MatrixFunctions.c
new file mode 100644
index 0000000..d4fa42c
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/MatrixFunctions.c
@@ -0,0 +1,74 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        MatrixFunctions.c
+ * Description:  Combination of all matrix function source files.
+ *
+ * $Date:        18. March 2019
+ * $Revision:    V1.0.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 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_mat_add_f32.c"
+#include "arm_mat_add_q15.c"
+#include "arm_mat_add_q31.c"
+#include "arm_mat_cmplx_mult_f32.c"
+#include "arm_mat_cmplx_mult_q15.c"
+#include "arm_mat_cmplx_mult_q31.c"
+#include "arm_mat_init_f32.c"
+#include "arm_mat_init_q15.c"
+#include "arm_mat_init_q31.c"
+#include "arm_mat_inverse_f32.c"
+#include "arm_mat_inverse_f64.c"
+#include "arm_mat_mult_f64.c"
+#include "arm_mat_mult_f32.c"
+#include "arm_mat_mult_fast_q15.c"
+#include "arm_mat_mult_fast_q31.c"
+#include "arm_mat_mult_q7.c"
+#include "arm_mat_mult_q15.c"
+#include "arm_mat_mult_q31.c"
+#include "arm_mat_mult_opt_q31.c"
+#include "arm_mat_scale_f32.c"
+#include "arm_mat_scale_q15.c"
+#include "arm_mat_scale_q31.c"
+#include "arm_mat_sub_f64.c"
+#include "arm_mat_sub_f32.c"
+#include "arm_mat_sub_q15.c"
+#include "arm_mat_sub_q31.c"
+#include "arm_mat_trans_f32.c"
+#include "arm_mat_trans_f64.c"
+#include "arm_mat_trans_q7.c"
+#include "arm_mat_trans_q15.c"
+#include "arm_mat_trans_q31.c"
+#include "arm_mat_vec_mult_f32.c"
+#include "arm_mat_vec_mult_q31.c"
+#include "arm_mat_vec_mult_q15.c"
+#include "arm_mat_vec_mult_q7.c"
+#include "arm_mat_cmplx_trans_f32.c"
+#include "arm_mat_cmplx_trans_q31.c"
+#include "arm_mat_cmplx_trans_q15.c"
+#include "arm_mat_cholesky_f64.c"
+#include "arm_mat_cholesky_f32.c"
+#include "arm_mat_solve_upper_triangular_f32.c"
+#include "arm_mat_solve_lower_triangular_f32.c"
+#include "arm_mat_solve_upper_triangular_f64.c"
+#include "arm_mat_solve_lower_triangular_f64.c"
+#include "arm_mat_ldlt_f32.c"
+#include "arm_mat_ldlt_f64.c"
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/MatrixFunctionsF16.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/MatrixFunctionsF16.c
new file mode 100644
index 0000000..9d3a41f
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/MatrixFunctionsF16.c
@@ -0,0 +1,41 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        MatrixFunctions.c
+ * Description:  Combination of all matrix function f16 source files.
+ *
+ * $Date:        18. March 2020
+ * $Revision:    V1.0.0
+ *
+ * Target Processor: Cortex-M cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 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.
+ */
+
+#include "arm_mat_add_f16.c"
+#include "arm_mat_sub_f16.c"
+#include "arm_mat_trans_f16.c"
+#include "arm_mat_scale_f16.c"
+#include "arm_mat_mult_f16.c"
+#include "arm_mat_vec_mult_f16.c"
+#include "arm_mat_cmplx_trans_f16.c"
+#include "arm_mat_cmplx_mult_f16.c"
+#include "arm_mat_inverse_f16.c"
+#include "arm_mat_init_f16.c"
+#include "arm_mat_cholesky_f16.c"
+#include "arm_mat_solve_upper_triangular_f16.c"
+#include "arm_mat_solve_lower_triangular_f16.c"
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_f16.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_f16.c
new file mode 100644
index 0000000..2db2c2a
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_f16.c
@@ -0,0 +1,217 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_add_f16.c
+ * Description:  Floating-point matrix addition
+ *
+ * $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_f16.h"
+
+#if defined(ARM_FLOAT16_SUPPORTED)
+
+
+/**
+  @ingroup groupMatrix
+ */
+
+
+/**
+  @addtogroup MatrixAdd
+  @{
+ */
+
+
+/**
+  @brief         Floating-point matrix addition.
+  @param[in]     pSrcA      points to first input matrix structure
+  @param[in]     pSrcB      points to second input matrix structure
+  @param[out]    pDst       points to output matrix structure
+  @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+ */
+
+#if defined(ARM_MATH_MVE_FLOAT16) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+arm_status arm_mat_add_f16(
+  const arm_matrix_instance_f16 * pSrcA,
+  const arm_matrix_instance_f16 * pSrcB,
+  arm_matrix_instance_f16 * pDst)
+{
+    arm_status status;  
+    uint32_t  numSamples;       /* total number of elements in the matrix  */
+    float16_t *pDataA, *pDataB, *pDataDst;
+    f16x8_t vecA, vecB, vecDst;
+    float16_t const *pSrcAVec;
+    float16_t const *pSrcBVec;
+    uint32_t  blkCnt;           /* loop counters */
+
+    pDataA = pSrcA->pData;
+    pDataB = pSrcB->pData;
+    pDataDst = pDst->pData;
+    pSrcAVec = (float16_t const *) pDataA;
+    pSrcBVec = (float16_t const *) pDataB;
+
+#ifdef ARM_MATH_MATRIX_CHECK
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+     (pSrcA->numCols != pSrcB->numCols) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif
+ {
+    /*
+     * Total number of samples in the input matrix
+     */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+    blkCnt = numSamples >> 3;
+    while (blkCnt > 0U)
+    {
+        /* C(m,n) = A(m,n) + B(m,n) */
+        /* Add and then store the results in the destination buffer. */
+        vecA = vld1q(pSrcAVec); 
+        pSrcAVec += 8;
+        vecB = vld1q(pSrcBVec); 
+        pSrcBVec += 8;
+        vecDst = vaddq(vecA, vecB);
+        vst1q(pDataDst, vecDst);  
+        pDataDst += 8;
+        /*
+         * Decrement the blockSize loop counter
+         */
+        blkCnt--;
+    }
+    /*
+     * tail
+     */
+    blkCnt = numSamples & 7;
+    if (blkCnt > 0U)
+    {
+        mve_pred16_t p0 = vctp16q(blkCnt);
+        vecA = vld1q(pSrcAVec); 
+        vecB = vld1q(pSrcBVec); 
+        vecDst = vaddq_m(vecDst, vecA, vecB, p0);
+        vstrhq_p(pDataDst, vecDst, p0);
+    }
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+  return (status);
+}
+#else
+
+arm_status arm_mat_add_f16(
+  const arm_matrix_instance_f16 * pSrcA,
+  const arm_matrix_instance_f16 * pSrcB,
+        arm_matrix_instance_f16 * pDst)
+{
+  float16_t *pInA = pSrcA->pData;                /* input data matrix pointer A */
+  float16_t *pInB = pSrcB->pData;                /* input data matrix pointer B */
+  float16_t *pOut = pDst->pData;                 /* output data matrix pointer */
+
+  uint32_t numSamples;                           /* total number of elements in the matrix */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix addition */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+      (pSrcA->numCols != pSrcB->numCols) ||
+      (pSrcA->numRows != pDst->numRows)  ||
+      (pSrcA->numCols != pDst->numCols)    )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* Total number of samples in input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+    /* Loop unrolling: Compute 4 outputs at a time */
+    blkCnt = numSamples >> 2U;
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+
+      /* Add and store result in destination buffer. */
+      *pOut++ = (_Float16)*pInA++ + (_Float16)*pInB++;
+
+      *pOut++ = (_Float16)*pInA++ + (_Float16)*pInB++;
+
+      *pOut++ = (_Float16)*pInA++ + (_Float16)*pInB++;
+
+      *pOut++ = (_Float16)*pInA++ + (_Float16)*pInB++;
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Loop unrolling: Compute remaining outputs */
+    blkCnt = numSamples % 0x4U;
+
+#else
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+
+      /* Add and store result in destination buffer. */
+      *pOut++ = (_Float16)*pInA++ + (_Float16)*pInB++;
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
+
+/**
+  @} end of MatrixAdd group
+ */
+
+#endif /* #if defined(ARM_FLOAT16_SUPPORTED) */ 
+
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_f32.c
new file mode 100644
index 0000000..879c8f8
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_f32.c
@@ -0,0 +1,304 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_add_f32.c
+ * Description:  Floating-point matrix addition
+ *
+ * $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 MatrixAdd Matrix Addition
+
+  Adds two matrices.
+  \image html MatrixAddition.gif "Addition of two 3 x 3 matrices"
+
+  The functions check to make sure that
+  <code>pSrcA</code>, <code>pSrcB</code>, and <code>pDst</code> have the same
+  number of rows and columns.
+ */
+
+/**
+  @addtogroup MatrixAdd
+  @{
+ */
+
+
+/**
+  @brief         Floating-point matrix addition.
+  @param[in]     pSrcA      points to first input matrix structure
+  @param[in]     pSrcB      points to second input matrix structure
+  @param[out]    pDst       points to output matrix structure
+  @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)
+arm_status arm_mat_add_f32(
+  const arm_matrix_instance_f32 * pSrcA,
+  const arm_matrix_instance_f32 * pSrcB,
+  arm_matrix_instance_f32 * pDst)
+{
+    arm_status status;  
+    uint32_t  numSamples;       /* total number of elements in the matrix  */
+    float32_t *pDataA, *pDataB, *pDataDst;
+    f32x4_t vecA, vecB, vecDst;
+    float32_t const *pSrcAVec;
+    float32_t const *pSrcBVec;
+    uint32_t  blkCnt;           /* loop counters */
+
+    pDataA = pSrcA->pData;
+    pDataB = pSrcB->pData;
+    pDataDst = pDst->pData;
+    pSrcAVec = (float32_t const *) pDataA;
+    pSrcBVec = (float32_t const *) pDataB;
+
+#ifdef ARM_MATH_MATRIX_CHECK
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+     (pSrcA->numCols != pSrcB->numCols) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif
+ {
+    /*
+     * Total number of samples in the input matrix
+     */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+    blkCnt = numSamples >> 2;
+    while (blkCnt > 0U)
+    {
+        /* C(m,n) = A(m,n) + B(m,n) */
+        /* Add and then store the results in the destination buffer. */
+        vecA = vld1q(pSrcAVec); 
+        pSrcAVec += 4;
+        vecB = vld1q(pSrcBVec); 
+        pSrcBVec += 4;
+        vecDst = vaddq(vecA, vecB);
+        vst1q(pDataDst, vecDst);  
+        pDataDst += 4;
+        /*
+         * Decrement the blockSize loop counter
+         */
+        blkCnt--;
+    }
+    /*
+     * tail
+     */
+    blkCnt = numSamples & 3;
+    if (blkCnt > 0U)
+    {
+        mve_pred16_t p0 = vctp32q(blkCnt);
+        vecA = vld1q(pSrcAVec); 
+        vecB = vld1q(pSrcBVec); 
+        vecDst = vaddq_m(vecDst, vecA, vecB, p0);
+        vstrwq_p(pDataDst, vecDst, p0);
+    }
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+  return (status);
+}
+#else
+#if defined(ARM_MATH_NEON)
+/*
+
+Neon version is assuming the matrix is small enough.
+So no blocking is used for taking into account cache effects.
+For big matrix, there exist better libraries for Neon.
+
+*/
+arm_status arm_mat_add_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 *pOut = pDst->pData;                 /* output data matrix pointer   */
+
+
+  uint32_t numSamples;                           /* total number of elements in the matrix  */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix addition */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+     (pSrcA->numCols != pSrcB->numCols) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif
+  {
+    float32x4_t vec1;
+    float32x4_t vec2;
+    float32x4_t res;
+
+    /* Total number of samples in the input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+    blkCnt = numSamples >> 2U;
+
+    /* Compute 4 outputs at a time.
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+      /* Add and then store the results in the destination buffer. */
+      vec1 = vld1q_f32(pIn1);
+      vec2 = vld1q_f32(pIn2);
+      res = vaddq_f32(vec1, vec2);
+      vst1q_f32(pOut, res);
+
+      /* update pointers to process next samples */
+      pIn1 += 4U;
+      pIn2 += 4U;
+      pOut += 4U;
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.
+     ** No loop unrolling is used. */
+    blkCnt = numSamples % 0x4U;
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+      /* Add and then store the results in the destination buffer. */
+      *pOut++ = (*pIn1++) + (*pIn2++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+#else
+arm_status arm_mat_add_f32(
+  const arm_matrix_instance_f32 * pSrcA,
+  const arm_matrix_instance_f32 * pSrcB,
+        arm_matrix_instance_f32 * pDst)
+{
+  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 */
+
+  uint32_t numSamples;                           /* total number of elements in the matrix */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix addition */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+      (pSrcA->numCols != pSrcB->numCols) ||
+      (pSrcA->numRows != pDst->numRows)  ||
+      (pSrcA->numCols != pDst->numCols)    )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* Total number of samples in input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+    /* Loop unrolling: Compute 4 outputs at a time */
+    blkCnt = numSamples >> 2U;
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+
+      /* Add and store result in destination buffer. */
+      *pOut++ = *pInA++ + *pInB++;
+
+      *pOut++ = *pInA++ + *pInB++;
+
+      *pOut++ = *pInA++ + *pInB++;
+
+      *pOut++ = *pInA++ + *pInB++;
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Loop unrolling: Compute remaining outputs */
+    blkCnt = numSamples % 0x4U;
+
+#else
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+
+      /* Add and store result in destination buffer. */
+      *pOut++ = *pInA++ + *pInB++;
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* 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 MatrixAdd group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_q15.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_q15.c
new file mode 100644
index 0000000..e27b72f
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_q15.c
@@ -0,0 +1,227 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_add_q15.c
+ * Description:  Q15 matrix addition
+ *
+ * $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
+ */
+
+/**
+  @addtogroup MatrixAdd
+  @{
+ */
+
+/**
+  @brief         Q15 matrix addition.
+  @param[in]     pSrcA      points to first input matrix structure
+  @param[in]     pSrcB      points to second input matrix structure
+  @param[out]    pDst       points to output matrix structure
+  @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+  @par           Scaling and Overflow Behavior
+                   The function uses saturating arithmetic.
+                   Results outside of the allowable Q15 range [0x8000 0x7FFF] are saturated.
+ */
+#if defined(ARM_MATH_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+arm_status arm_mat_add_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+        arm_matrix_instance_q15 * pDst)
+{
+    uint32_t        numSamples;       /* total number of elements in the matrix  */
+    q15_t          *pDataA, *pDataB, *pDataDst;
+    q15x8_t       vecA, vecB, vecDst;
+    q15_t const   *pSrcAVec;
+    q15_t const   *pSrcBVec;
+    uint32_t        blkCnt;           /* loop counters */
+    arm_status status;                             /* status of matrix addition */
+
+    pDataA = pSrcA->pData;
+    pDataB = pSrcB->pData;
+    pDataDst = pDst->pData;
+    pSrcAVec = (q15_t const *) pDataA;
+    pSrcBVec = (q15_t const *) pDataB;
+
+  #ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+      (pSrcA->numCols != pSrcB->numCols) ||
+      (pSrcA->numRows != pDst->numRows)  ||
+      (pSrcA->numCols != pDst->numCols)    )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+
+    /*
+     * Total number of samples in the input matrix
+     */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+    blkCnt = numSamples >> 3;
+    while (blkCnt > 0U)
+    {
+        /* C(m,n) = A(m,n) + B(m,n) */
+        /* Add and then store the results in the destination buffer. */
+        vecA = vld1q(pSrcAVec); pSrcAVec += 8;
+        vecB = vld1q(pSrcBVec); pSrcBVec += 8;
+        vecDst = vqaddq(vecA, vecB);
+        vst1q(pDataDst, vecDst);  pDataDst += 8;
+        /*
+         * Decrement the blockSize loop counter
+         */
+        blkCnt--;
+    }
+    /*
+     * tail
+     * (will be merged thru tail predication)
+     */
+    blkCnt = numSamples & 7;
+    if (blkCnt > 0U)
+    {
+        mve_pred16_t p0 = vctp16q(blkCnt);
+        vecA = vld1q(pSrcAVec); pSrcAVec += 8;
+        vecB = vld1q(pSrcBVec); pSrcBVec += 8;
+        vecDst = vqaddq_m(vecDst, vecA, vecB, p0);
+        vstrhq_p(pDataDst, vecDst, p0);
+    }
+  /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+#else
+arm_status arm_mat_add_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+        arm_matrix_instance_q15 * pDst)
+{
+        q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A */
+        q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B */
+        q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
+        
+        uint32_t numSamples;                           /* total number of elements in the matrix */
+        uint32_t blkCnt;                               /* loop counters */
+        arm_status status;                             /* status of matrix addition */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+      (pSrcA->numCols != pSrcB->numCols) ||
+      (pSrcA->numRows != pDst->numRows)  ||
+      (pSrcA->numCols != pDst->numCols)    )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* Total number of samples in input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+    /* Loop unrolling: Compute 4 outputs at a time */
+    blkCnt = numSamples >> 2U;
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+
+      /* Add, saturate and store result in destination buffer. */
+#if defined (ARM_MATH_DSP)
+      write_q15x2_ia (&pOut, __QADD16(read_q15x2_ia (&pInA), read_q15x2_ia (&pInB)));
+
+      write_q15x2_ia (&pOut, __QADD16(read_q15x2_ia (&pInA), read_q15x2_ia (&pInB)));
+#else
+      *pOut++ = (q15_t) __SSAT(((q31_t) *pInA++ + *pInB++), 16);
+
+      *pOut++ = (q15_t) __SSAT(((q31_t) *pInA++ + *pInB++), 16);
+
+      *pOut++ = (q15_t) __SSAT(((q31_t) *pInA++ + *pInB++), 16);
+
+      *pOut++ = (q15_t) __SSAT(((q31_t) *pInA++ + *pInB++), 16);
+#endif
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Loop unrolling: Compute remaining outputs */
+    blkCnt = numSamples % 0x4U;
+
+#else
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+
+      /* Add, saturate and store result in destination buffer. */
+#if defined (ARM_MATH_DSP)
+      *pOut++ = (q15_t) __QADD16(*pInA++, *pInB++);
+#else
+      *pOut++ = (q15_t) __SSAT(((q31_t) *pInA++ + *pInB++), 16);
+#endif
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+#endif /* defined(ARM_MATH_MVEI) */
+
+/**
+  @} end of MatrixAdd group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_q31.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_q31.c
new file mode 100644
index 0000000..57f67e7
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_add_q31.c
@@ -0,0 +1,216 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_add_q31.c
+ * Description:  Q31 matrix addition
+ *
+ * $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
+ */
+
+/**
+  @addtogroup MatrixAdd
+  @{
+ */
+
+/**
+  @brief         Q31 matrix addition.
+  @param[in]     pSrcA      points to first input matrix structure
+  @param[in]     pSrcB      points to second input matrix structure
+  @param[out]    pDst       points to output matrix structure
+  @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+  @par           Scaling and Overflow Behavior
+                   The function uses saturating arithmetic.
+                   Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] are saturated.
+ */
+#if defined(ARM_MATH_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+arm_status arm_mat_add_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+        arm_matrix_instance_q31 * pDst)
+{
+    arm_status status;                             /* status of matrix addition */
+    uint32_t        numSamples;       /* total number of elements in the matrix  */
+    q31_t          *pDataA, *pDataB, *pDataDst;
+    q31x4_t       vecA, vecB, vecDst;
+    q31_t const   *pSrcAVec;
+    q31_t const   *pSrcBVec;
+    uint32_t        blkCnt;           /* loop counters */
+
+    pDataA = pSrcA->pData;
+    pDataB = pSrcB->pData;
+    pDataDst = pDst->pData;
+    pSrcAVec = (q31_t const *) pDataA;
+    pSrcBVec = (q31_t const *) pDataB;
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+      (pSrcA->numCols != pSrcB->numCols) ||
+      (pSrcA->numRows != pDst->numRows)  ||
+      (pSrcA->numCols != pDst->numCols)    )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+  {
+     /*
+     * Total number of samples in the input matrix
+     */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+    blkCnt = numSamples >> 2;
+    while (blkCnt > 0U)
+    {
+        /* C(m,n) = A(m,n) + B(m,n) */
+        /* Add and then store the results in the destination buffer. */
+        vecA = vld1q(pSrcAVec); 
+        pSrcAVec += 4;
+        vecB = vld1q(pSrcBVec); 
+        pSrcBVec += 4;
+        vecDst = vqaddq(vecA, vecB);
+        vst1q(pDataDst, vecDst);  
+        pDataDst += 4;
+        /*
+         * Decrement the blockSize loop counter
+         */
+        blkCnt--;
+    }
+    /*
+     * tail
+     */
+    blkCnt = numSamples & 3;
+    if (blkCnt > 0U)
+    {
+        mve_pred16_t p0 = vctp32q(blkCnt);
+        vecA = vld1q(pSrcAVec); 
+        pSrcAVec += 4;
+        vecB = vld1q(pSrcBVec); 
+        pSrcBVec += 4;
+        vecDst = vqaddq_m(vecDst, vecA, vecB, p0);
+        vstrwq_p(pDataDst, vecDst, p0);
+    }
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+#else
+arm_status arm_mat_add_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+        arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pInA = pSrcA->pData;                    /* input data matrix pointer A */
+  q31_t *pInB = pSrcB->pData;                    /* input data matrix pointer B */
+  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */
+
+  uint32_t numSamples;                           /* total number of elements in the matrix */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix addition */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+      (pSrcA->numCols != pSrcB->numCols) ||
+      (pSrcA->numRows != pDst->numRows)  ||
+      (pSrcA->numCols != pDst->numCols)    )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* Total number of samples in input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+    /* Loop unrolling: Compute 4 outputs at a time */
+    blkCnt = numSamples >> 2U;
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+
+      /* Add, saturate and store result in destination buffer. */
+      *pOut++ = __QADD(*pInA++, *pInB++);
+
+      *pOut++ = __QADD(*pInA++, *pInB++);
+
+      *pOut++ = __QADD(*pInA++, *pInB++);
+
+      *pOut++ = __QADD(*pInA++, *pInB++);
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Loop unrolling: Compute remaining outputs */
+    blkCnt = numSamples % 0x4U;
+
+#else
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) + B(m,n) */
+
+      /* Add, saturate and store result in destination buffer. */
+      *pOut++ = __QADD(*pInA++, *pInB++);
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+#endif /* defined(ARM_MATH_MVEI) */
+
+/**
+  @} end of MatrixAdd group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cholesky_f16.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cholesky_f16.c
new file mode 100644
index 0000000..9c8acef
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cholesky_f16.c
@@ -0,0 +1,256 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_cholesky_f16.c
+ * Description:  Floating-point Cholesky decomposition
+ *
+ * $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_f16.h"
+
+#if defined(ARM_FLOAT16_SUPPORTED)
+
+/**
+  @ingroup groupMatrix
+ */
+
+/**
+  @addtogroup MatrixChol
+  @{
+ */
+
+/**
+   * @brief Floating-point Cholesky decomposition of positive-definite matrix.
+   * @param[in]  pSrc   points to the instance of the input floating-point matrix structure.
+   * @param[out] pDst   points to the instance of the output floating-point matrix structure.
+   * @return The function returns ARM_MATH_SIZE_MISMATCH, if the dimensions do not match.
+   * @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+                   - \ref ARM_MATH_DECOMPOSITION_FAILURE      : Input matrix cannot be decomposed
+   * @par
+   * If the matrix is ill conditioned or only semi-definite, then it is better using the LDL^t decomposition.
+   * The decomposition of A is returning a lower triangular matrix U such that A = U U^t
+   */
+
+#if defined(ARM_MATH_MVE_FLOAT16) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+arm_status arm_mat_cholesky_f16(
+  const arm_matrix_instance_f16 * pSrc,
+        arm_matrix_instance_f16 * pDst)
+{
+
+  arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pSrc->numCols) ||
+      (pDst->numRows != pDst->numCols) ||
+      (pSrc->numRows != pDst->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    int i,j,k;
+    int n = pSrc->numRows;
+    _Float16 invSqrtVj;
+    float16_t *pA,*pG;
+    int kCnt;
+
+    mve_pred16_t p0;
+
+    f16x8_t acc, acc0, acc1, acc2, acc3;
+    f16x8_t vecGi;
+    f16x8_t vecGj,vecGj0,vecGj1,vecGj2,vecGj3;
+
+
+    pA = pSrc->pData;
+    pG = pDst->pData;
+    
+    for(i=0 ;i < n ; i++)
+    {
+       for(j=i ; j+3 < n ; j+=4)
+       {
+          acc0 = vdupq_n_f16(0.0f16);
+          acc0[0]=pA[(j + 0) * n + i];
+
+          acc1 = vdupq_n_f16(0.0f16);
+          acc1[0]=pA[(j + 1) * n + i];
+
+          acc2 = vdupq_n_f16(0.0f16);
+          acc2[0]=pA[(j + 2) * n + i];
+
+          acc3 = vdupq_n_f16(0.0f16);
+          acc3[0]=pA[(j + 3) * n + i];
+
+          kCnt = i;
+          for(k=0; k < i ; k+=8)
+          {
+             p0 = vctp16q(kCnt);
+
+             vecGi=vldrhq_z_f16(&pG[i * n + k],p0);
+             
+             vecGj0=vldrhq_z_f16(&pG[(j + 0) * n + k],p0);
+             vecGj1=vldrhq_z_f16(&pG[(j + 1) * n + k],p0);
+             vecGj2=vldrhq_z_f16(&pG[(j + 2) * n + k],p0);
+             vecGj3=vldrhq_z_f16(&pG[(j + 3) * n + k],p0);
+
+             acc0 = vfmsq_m(acc0, vecGi, vecGj0, p0);
+             acc1 = vfmsq_m(acc1, vecGi, vecGj1, p0);
+             acc2 = vfmsq_m(acc2, vecGi, vecGj2, p0);
+             acc3 = vfmsq_m(acc3, vecGi, vecGj3, p0);
+
+             kCnt -= 8;
+          }
+          pG[(j + 0) * n + i] = vecAddAcrossF16Mve(acc0);
+          pG[(j + 1) * n + i] = vecAddAcrossF16Mve(acc1);
+          pG[(j + 2) * n + i] = vecAddAcrossF16Mve(acc2);
+          pG[(j + 3) * n + i] = vecAddAcrossF16Mve(acc3);
+       }
+
+       for(; j < n ; j++)
+       {
+
+          kCnt = i;
+          acc = vdupq_n_f16(0.0f16);
+          acc[0] = pA[j * n + i];
+
+          for(k=0; k < i ; k+=8)
+          {
+             p0 = vctp16q(kCnt);
+
+             vecGi=vldrhq_z_f16(&pG[i * n + k],p0);
+             vecGj=vldrhq_z_f16(&pG[j * n + k],p0);
+
+             acc = vfmsq_m(acc, vecGi, vecGj,p0);
+
+             kCnt -= 8;
+          }
+          pG[j * n + i] = vecAddAcrossF16Mve(acc);
+       }
+
+       if ((_Float16)pG[i * n + i] <= 0.0f16)
+       {
+         return(ARM_MATH_DECOMPOSITION_FAILURE);
+       }
+
+       invSqrtVj = 1.0f16/(_Float16)sqrtf((float32_t)pG[i * n + i]);
+       for(j=i; j < n ; j++)
+       {
+         pG[j * n + i] = (_Float16)pG[j * n + i] * (_Float16)invSqrtVj ;
+       }
+    }
+
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  
+  /* Return to application */
+  return (status);
+}
+
+#else
+arm_status arm_mat_cholesky_f16(
+  const arm_matrix_instance_f16 * pSrc,
+        arm_matrix_instance_f16 * pDst)
+{
+
+  arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pSrc->numCols) ||
+      (pDst->numRows != pDst->numCols) ||
+      (pSrc->numRows != pDst->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    int i,j,k;
+    int n = pSrc->numRows;
+    float16_t invSqrtVj;
+    float16_t *pA,*pG;
+
+    pA = pSrc->pData;
+    pG = pDst->pData;
+    
+
+    for(i=0 ; i < n ; i++)
+    {
+       for(j=i ; j < n ; j++)
+       {
+          pG[j * n + i] = pA[j * n + i];
+
+          for(k=0; k < i ; k++)
+          {
+             pG[j * n + i] = (_Float16)pG[j * n + i] - (_Float16)pG[i * n + k] * (_Float16)pG[j * n + k];
+          }
+       }
+
+       if ((_Float16)pG[i * n + i] <= 0.0f16)
+       {
+         return(ARM_MATH_DECOMPOSITION_FAILURE);
+       }
+
+       /* The division is done in float32 for accuracy reason and
+       because doing it in f16 would not have any impact on the performances.
+       */
+       invSqrtVj = 1.0f/sqrtf((float32_t)pG[i * n + i]);
+       for(j=i ; j < n ; j++)
+       {
+         pG[j * n + i] = (_Float16)pG[j * n + i] * (_Float16)invSqrtVj ;
+       }
+    }
+
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  
+  /* Return to application */
+  return (status);
+}
+
+#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
+
+/**
+  @} end of MatrixChol group
+ */
+#endif /* #if defined(ARM_FLOAT16_SUPPORTED) */ 
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cholesky_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cholesky_f32.c
new file mode 100644
index 0000000..94b9689
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cholesky_f32.c
@@ -0,0 +1,438 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_cholesky_f32.c
+ * Description:  Floating-point Cholesky decomposition
+ *
+ * $Date:        05 October 2021
+ * $Revision:    V1.9.1
+ *
+ * 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 MatrixChol Cholesky and LDLT decompositions
+
+  Computes the Cholesky or LDL^t decomposition of a matrix.
+
+
+  If the input matrix does not have a decomposition, then the 
+  algorithm terminates and returns error status ARM_MATH_DECOMPOSITION_FAILURE.
+ */
+
+/**
+  @addtogroup MatrixChol
+  @{
+ */
+
+/**
+   * @brief Floating-point Cholesky decomposition of positive-definite matrix.
+   * @param[in]  pSrc   points to the instance of the input floating-point matrix structure.
+   * @param[out] pDst   points to the instance of the output floating-point matrix structure.
+   * @return The function returns ARM_MATH_SIZE_MISMATCH, if the dimensions do not match.
+   * @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+                   - \ref ARM_MATH_DECOMPOSITION_FAILURE      : Input matrix cannot be decomposed
+   * @par
+   * If the matrix is ill conditioned or only semi-definite, then it is better using the LDL^t decomposition.
+   * The decomposition of A is returning a lower triangular matrix U such that A = U U^t
+   */
+
+#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+arm_status arm_mat_cholesky_f32(
+  const arm_matrix_instance_f32 * pSrc,
+        arm_matrix_instance_f32 * pDst)
+{
+
+  arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pSrc->numCols) ||
+      (pDst->numRows != pDst->numCols) ||
+      (pSrc->numRows != pDst->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    int i,j,k;
+    int n = pSrc->numRows;
+    float32_t invSqrtVj;
+    float32_t *pA,*pG;
+    int kCnt;
+
+    mve_pred16_t p0;
+
+    f32x4_t acc, acc0, acc1, acc2, acc3;
+    f32x4_t vecGi;
+    f32x4_t vecGj,vecGj0,vecGj1,vecGj2,vecGj3;
+
+
+    pA = pSrc->pData;
+    pG = pDst->pData;
+    
+    for(i=0 ;i < n ; i++)
+    {
+       for(j=i ; j+3 < n ; j+=4)
+       {
+          pG[(j + 0) * n + i] = pA[(j + 0) * n + i];
+          pG[(j + 1) * n + i] = pA[(j + 1) * n + i];
+          pG[(j + 2) * n + i] = pA[(j + 2) * n + i];
+          pG[(j + 3) * n + i] = pA[(j + 3) * n + i];
+
+          kCnt = i;
+          acc0 = vdupq_n_f32(0.0f);
+          acc1 = vdupq_n_f32(0.0f);
+          acc2 = vdupq_n_f32(0.0f);
+          acc3 = vdupq_n_f32(0.0f);
+
+          for(k=0; k < i ; k+=4)
+          {
+             p0 = vctp32q(kCnt);
+
+             vecGi=vldrwq_z_f32(&pG[i * n + k],p0);
+             
+             vecGj0=vldrwq_z_f32(&pG[(j + 0) * n + k],p0);
+             vecGj1=vldrwq_z_f32(&pG[(j + 1) * n + k],p0);
+             vecGj2=vldrwq_z_f32(&pG[(j + 2) * n + k],p0);
+             vecGj3=vldrwq_z_f32(&pG[(j + 3) * n + k],p0);
+
+             acc0 = vfmaq_m(acc0, vecGi, vecGj0, p0);
+             acc1 = vfmaq_m(acc1, vecGi, vecGj1, p0);
+             acc2 = vfmaq_m(acc2, vecGi, vecGj2, p0);
+             acc3 = vfmaq_m(acc3, vecGi, vecGj3, p0);
+
+             kCnt -= 4;
+          }
+          pG[(j + 0) * n + i] -= vecAddAcrossF32Mve(acc0);
+          pG[(j + 1) * n + i] -= vecAddAcrossF32Mve(acc1);
+          pG[(j + 2) * n + i] -= vecAddAcrossF32Mve(acc2);
+          pG[(j + 3) * n + i] -= vecAddAcrossF32Mve(acc3);
+       }
+
+       for(; j < n ; j++)
+       {
+          pG[j * n + i] = pA[j * n + i];
+
+          kCnt = i;
+          acc = vdupq_n_f32(0.0f);
+
+          for(k=0; k < i ; k+=4)
+          {
+             p0 = vctp32q(kCnt);
+
+             vecGi=vldrwq_z_f32(&pG[i * n + k],p0);
+             vecGj=vldrwq_z_f32(&pG[j * n + k],p0);
+
+             acc = vfmaq_m(acc, vecGi, vecGj,p0);
+
+             kCnt -= 4;
+          }
+          pG[j * n + i] -= vecAddAcrossF32Mve(acc);
+       }
+
+       if (pG[i * n + i] <= 0.0f)
+       {
+         return(ARM_MATH_DECOMPOSITION_FAILURE);
+       }
+
+       invSqrtVj = 1.0f/sqrtf(pG[i * n + i]);
+       for(j=i; j < n ; j++)
+       {
+         pG[j * n + i] = pG[j * n + i] * invSqrtVj ;
+       }
+    }
+
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  
+  /* Return to application */
+  return (status);
+}
+
+#else
+#if defined(ARM_MATH_NEON) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+arm_status arm_mat_cholesky_f32(
+  const arm_matrix_instance_f32 * pSrc,
+        arm_matrix_instance_f32 * pDst)
+{
+
+  arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pSrc->numCols) ||
+      (pDst->numRows != pDst->numCols) ||
+      (pSrc->numRows != pDst->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    int i,j,k;
+    int n = pSrc->numRows;
+    float32_t invSqrtVj;
+    float32_t *pA,*pG;
+    int kCnt;
+
+
+    f32x4_t acc, acc0, acc1, acc2, acc3;
+    f32x4_t vecGi;
+    f32x4_t vecGj,vecGj0,vecGj1,vecGj2,vecGj3;
+#if !defined(__aarch64__)
+    f32x2_t tmp = vdup_n_f32(0);   
+#endif    
+    float32_t sum=0.0f;
+    float32_t sum0=0.0f,sum1=0.0f,sum2=0.0f,sum3=0.0f;
+
+
+    pA = pSrc->pData;
+    pG = pDst->pData;
+    
+    for(i=0 ;i < n ; i++)
+    {
+       for(j=i ; j+3 < n ; j+=4)
+       {
+          pG[(j + 0) * n + i] = pA[(j + 0) * n + i];
+          pG[(j + 1) * n + i] = pA[(j + 1) * n + i];
+          pG[(j + 2) * n + i] = pA[(j + 2) * n + i];
+          pG[(j + 3) * n + i] = pA[(j + 3) * n + i];
+
+          acc0 = vdupq_n_f32(0.0f);
+          acc1 = vdupq_n_f32(0.0f);
+          acc2 = vdupq_n_f32(0.0f);
+          acc3 = vdupq_n_f32(0.0f);
+
+          kCnt = i >> 2;
+          k=0;
+          while(kCnt > 0)
+          {
+
+             vecGi=vld1q_f32(&pG[i * n + k]);
+             
+             vecGj0=vld1q_f32(&pG[(j + 0) * n + k]);
+             vecGj1=vld1q_f32(&pG[(j + 1) * n + k]);
+             vecGj2=vld1q_f32(&pG[(j + 2) * n + k]);
+             vecGj3=vld1q_f32(&pG[(j + 3) * n + k]);
+
+             acc0 = vfmaq_f32(acc0, vecGi, vecGj0);
+             acc1 = vfmaq_f32(acc1, vecGi, vecGj1);
+             acc2 = vfmaq_f32(acc2, vecGi, vecGj2);
+             acc3 = vfmaq_f32(acc3, vecGi, vecGj3);
+
+             kCnt--;
+             k+=4;
+          }
+
+#if defined(__aarch64__)
+          sum0 = vpadds_f32(vpadd_f32(vget_low_f32(acc0), vget_high_f32(acc0)));
+          sum1 = vpadds_f32(vpadd_f32(vget_low_f32(acc1), vget_high_f32(acc1)));
+          sum2 = vpadds_f32(vpadd_f32(vget_low_f32(acc2), vget_high_f32(acc2)));
+          sum3 = vpadds_f32(vpadd_f32(vget_low_f32(acc3), vget_high_f32(acc3)));
+
+#else
+          tmp = vpadd_f32(vget_low_f32(acc0), vget_high_f32(acc0));
+          sum0 = vget_lane_f32(tmp, 0) + vget_lane_f32(tmp, 1);
+
+          tmp = vpadd_f32(vget_low_f32(acc1), vget_high_f32(acc1));
+          sum1 = vget_lane_f32(tmp, 0) + vget_lane_f32(tmp, 1);
+
+          tmp = vpadd_f32(vget_low_f32(acc2), vget_high_f32(acc2));
+          sum2 = vget_lane_f32(tmp, 0) + vget_lane_f32(tmp, 1);
+
+          tmp = vpadd_f32(vget_low_f32(acc3), vget_high_f32(acc3));
+          sum3 = vget_lane_f32(tmp, 0) + vget_lane_f32(tmp, 1);
+#endif
+
+          kCnt = i & 3;
+          while(kCnt > 0)
+          {
+
+             sum0 = sum0 + pG[i * n + k] * pG[(j + 0) * n + k];
+             sum1 = sum1 + pG[i * n + k] * pG[(j + 1) * n + k];
+             sum2 = sum2 + pG[i * n + k] * pG[(j + 2) * n + k];
+             sum3 = sum3 + pG[i * n + k] * pG[(j + 3) * n + k];
+             kCnt--;
+             k++;
+          }
+
+          pG[(j + 0) * n + i] -= sum0;
+          pG[(j + 1) * n + i] -= sum1;
+          pG[(j + 2) * n + i] -= sum2;
+          pG[(j + 3) * n + i] -= sum3;
+       }
+
+       for(; j < n ; j++)
+       {
+          pG[j * n + i] = pA[j * n + i];
+
+          acc = vdupq_n_f32(0.0f);
+
+          kCnt = i >> 2;
+          k=0;
+          while(kCnt > 0)
+          {
+
+             vecGi=vld1q_f32(&pG[i * n + k]);
+             vecGj=vld1q_f32(&pG[j * n + k]);
+
+             acc = vfmaq_f32(acc, vecGi, vecGj);
+
+             kCnt--;
+             k+=4;
+          }
+
+#if defined(__aarch64__)
+          sum = vpadds_f32(vpadd_f32(vget_low_f32(acc), vget_high_f32(acc)));
+#else
+          tmp = vpadd_f32(vget_low_f32(acc), vget_high_f32(acc));
+          sum = vget_lane_f32(tmp, 0) + vget_lane_f32(tmp, 1);
+#endif
+
+          kCnt = i & 3;
+          while(kCnt > 0)
+          {
+             sum = sum + pG[i * n + k] * pG[(j + 0) * n + k];
+
+            
+             kCnt--;
+             k++;
+          }
+
+          pG[j * n + i] -= sum;
+       }
+
+       if (pG[i * n + i] <= 0.0f)
+       {
+         return(ARM_MATH_DECOMPOSITION_FAILURE);
+       }
+
+       invSqrtVj = 1.0f/sqrtf(pG[i * n + i]);
+       for(j=i; j < n ; j++)
+       {
+         pG[j * n + i] = pG[j * n + i] * invSqrtVj ;
+       }
+    }
+
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  
+  /* Return to application */
+  return (status);
+}
+
+#else
+arm_status arm_mat_cholesky_f32(
+  const arm_matrix_instance_f32 * pSrc,
+        arm_matrix_instance_f32 * pDst)
+{
+
+  arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pSrc->numCols) ||
+      (pDst->numRows != pDst->numCols) ||
+      (pSrc->numRows != pDst->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    int i,j,k;
+    int n = pSrc->numRows;
+    float32_t invSqrtVj;
+    float32_t *pA,*pG;
+
+    pA = pSrc->pData;
+    pG = pDst->pData;
+    
+
+    for(i=0 ; i < n ; i++)
+    {
+       for(j=i ; j < n ; j++)
+       {
+          pG[j * n + i] = pA[j * n + i];
+
+          for(k=0; k < i ; k++)
+          {
+             pG[j * n + i] = pG[j * n + i] - pG[i * n + k] * pG[j * n + k];
+          }
+       }
+
+       if (pG[i * n + i] <= 0.0f)
+       {
+         return(ARM_MATH_DECOMPOSITION_FAILURE);
+       }
+
+       invSqrtVj = 1.0f/sqrtf(pG[i * n + i]);
+       for(j=i ; j < n ; j++)
+       {
+         pG[j * n + i] = pG[j * n + i] * invSqrtVj ;
+       }
+    }
+
+    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 MatrixChol group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cholesky_f64.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cholesky_f64.c
new file mode 100644
index 0000000..4e095d0
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cholesky_f64.c
@@ -0,0 +1,122 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_cholesky_f64.c
+ * Description:  Floating-point Cholesky decomposition
+ *
+ * $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
+ */
+
+/**
+  @addtogroup MatrixChol
+  @{
+ */
+
+/**
+   * @brief Floating-point Cholesky decomposition of positive-definite matrix.
+   * @param[in]  pSrc   points to the instance of the input floating-point matrix structure.
+   * @param[out] pDst   points to the instance of the output floating-point matrix structure.
+   * @return The function returns ARM_MATH_SIZE_MISMATCH, if the dimensions do not match.
+   * @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+                   - \ref ARM_MATH_DECOMPOSITION_FAILURE      : Input matrix cannot be decomposed
+   * @par
+   * If the matrix is ill conditioned or only semi-definite, then it is better using the LDL^t decomposition.
+   * The decomposition of A is returning a lower triangular matrix U such that A = U U^t
+   */
+
+
+arm_status arm_mat_cholesky_f64(
+  const arm_matrix_instance_f64 * pSrc,
+        arm_matrix_instance_f64 * pDst)
+{
+
+  arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pSrc->numCols) ||
+      (pDst->numRows != pDst->numCols) ||
+      (pSrc->numRows != pDst->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    int i,j,k;
+    int n = pSrc->numRows;
+    float64_t invSqrtVj;
+    float64_t *pA,*pG;
+
+    pA = pSrc->pData;
+    pG = pDst->pData;
+    
+
+    for(i=0 ; i < n ; i++)
+    {
+       for(j=i ; j < n ; j++)
+       {
+          pG[j * n + i] = pA[j * n + i];
+
+          for(k=0; k < i ; k++)
+          {
+             pG[j * n + i] = pG[j * n + i] - pG[i * n + k] * pG[j * n + k];
+          }
+       }
+
+       if (pG[i * n + i] <= 0.0)
+       {
+         return(ARM_MATH_DECOMPOSITION_FAILURE);
+       }
+
+       invSqrtVj = 1.0/sqrt(pG[i * n + i]);
+       for(j=i ; j < n ; j++)
+       {
+         pG[j * n + i] = pG[j * n + i] * invSqrtVj ;
+       }
+    }
+
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  
+  /* Return to application */
+  return (status);
+}
+
+/**
+  @} end of MatrixChol group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_f16.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_f16.c
new file mode 100644
index 0000000..f566696
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_f16.c
@@ -0,0 +1,935 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_cmplx_mult_f16.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_f16.h"
+
+#if defined(ARM_FLOAT16_SUPPORTED)
+
+
+/**
+  @ingroup groupMatrix
+ */
+
+
+/**
+  @addtogroup CmplxMatrixMult
+  @{
+ */
+
+/**
+  @brief         Floating-point Complex matrix multiplication.
+  @param[in]     pSrcA      points to first input complex matrix structure
+  @param[in]     pSrcB      points to second input complex matrix structure
+  @param[out]    pDst       points to output complex matrix structure
+  @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+ */
+
+#if defined(ARM_MATH_MVE_FLOAT16) && !defined(ARM_MATH_AUTOVECTORIZE) && defined(__CMSIS_GCC_H)
+#pragma GCC warning "Scalar version of arm_mat_cmplx_mult_f16 built. Helium version has build issues with gcc."
+#endif 
+
+#if defined(ARM_MATH_MVE_FLOAT16) && !defined(ARM_MATH_AUTOVECTORIZE) &&  !defined(__CMSIS_GCC_H)
+
+#include "arm_helium_utils.h"
+
+#define DONTCARE            0 /* inactive lane content */
+
+
+__STATIC_FORCEINLINE arm_status arm_mat_cmplx_mult_f16_2x2_mve(
+    const arm_matrix_instance_f16 * pSrcA,
+    const arm_matrix_instance_f16 * pSrcB,
+    arm_matrix_instance_f16 * pDst)
+{
+#define MATRIX_DIM 2
+    float16_t const *pInB = pSrcB->pData;  /* input data matrix pointer B */
+    float16_t       *pInA = pSrcA->pData;  /* input data matrix pointer A */
+    float16_t       *pOut = pDst->pData;   /* output data matrix pointer */
+    uint16x8_t     vecColBOffs0,vecColAOffs0,vecColAOffs1;
+    float16_t       *pInA0 = pInA;
+    f16x8_t        acc0, acc1;
+    f16x8_t        vecB, vecA0, vecA1;
+    f16x8_t        vecTmp;
+    uint16_t         tmp;
+    static const uint16_t offsetB0[8] = { 0, 1,
+        MATRIX_DIM * CMPLX_DIM, MATRIX_DIM * CMPLX_DIM + 1,
+        2, 3,
+        MATRIX_DIM * CMPLX_DIM + 2 , MATRIX_DIM * CMPLX_DIM + 3,
+    };
+
+
+    vecColBOffs0 = vldrhq_u16((uint16_t const *) offsetB0);
+
+    tmp = 0;
+    vecColAOffs0 = viwdupq_u16(tmp, 4, 1);
+
+    tmp = (CMPLX_DIM * MATRIX_DIM);
+    vecColAOffs1 = vecColAOffs0 + (uint16_t)(CMPLX_DIM * MATRIX_DIM);
+
+
+    pInB = (float16_t const *)pSrcB->pData;
+
+    vecA0 = vldrhq_gather_shifted_offset_f16(pInA0, vecColAOffs0);
+    vecA1 = vldrhq_gather_shifted_offset_f16(pInA0, vecColAOffs1);
+
+
+    vecB = vldrhq_gather_shifted_offset(pInB, vecColBOffs0);
+
+    acc0 = vcmulq(vecA0, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA0, vecB);
+
+    acc1 = vcmulq(vecA1, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA1, vecB);
+
+
+    /*
+     * Compute
+     *  re0+re1 | im0+im1 | re0+re1 | im0+im1
+     *  re2+re3 | im2+im3 | re2+re3 | im2+im3
+     */
+
+    vecTmp = (f16x8_t) vrev64q_s32((int32x4_t) acc0);
+    vecTmp = vaddq(vecTmp, acc0);
+
+
+    *(float32_t *)(&pOut[0 * CMPLX_DIM * MATRIX_DIM]) = ((f32x4_t)vecTmp)[0];
+    *(float32_t *)(&pOut[0 * CMPLX_DIM * MATRIX_DIM + CMPLX_DIM]) = ((f32x4_t)vecTmp)[2];
+
+    vecTmp = (f16x8_t) vrev64q_s32((int32x4_t) acc1);
+    vecTmp = vaddq(vecTmp, acc1);
+
+    *(float32_t *)(&pOut[1 * CMPLX_DIM * MATRIX_DIM]) = ((f32x4_t)vecTmp)[0];
+    *(float32_t *)(&pOut[1 * CMPLX_DIM * MATRIX_DIM + CMPLX_DIM]) = ((f32x4_t)vecTmp)[2];
+
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+#undef MATRIX_DIM
+}
+
+
+
+__STATIC_FORCEINLINE arm_status arm_mat_cmplx_mult_f16_3x3_mve(
+    const arm_matrix_instance_f16 * pSrcA,
+    const arm_matrix_instance_f16 * pSrcB,
+    arm_matrix_instance_f16 * pDst)
+{
+#define MATRIX_DIM 3
+    float16_t const *pInB = pSrcB->pData;  /* input data matrix pointer B */
+    float16_t       *pInA = pSrcA->pData;  /* input data matrix pointer A */
+    float16_t       *pOut = pDst->pData;   /* output data matrix pointer */
+    uint16x8_t     vecColBOffs0;
+    float16_t       *pInA0 = pInA;
+    float16_t       *pInA1 = pInA0 + CMPLX_DIM * MATRIX_DIM;
+    float16_t       *pInA2 = pInA1 + CMPLX_DIM * MATRIX_DIM;
+    f16x8_t        acc0, acc1, acc2;
+    f16x8_t        vecB, vecA0, vecA1, vecA2;
+    static const uint16_t offsetB0[8] = { 0, 1,
+        MATRIX_DIM * CMPLX_DIM, MATRIX_DIM * CMPLX_DIM + 1,
+        2 * MATRIX_DIM * CMPLX_DIM, 2 * MATRIX_DIM * CMPLX_DIM + 1,
+        DONTCARE, DONTCARE
+    };
+
+    
+    /* enable predication to disable upper half complex vector element */
+    mve_pred16_t p0 = vctp16q(MATRIX_DIM * CMPLX_DIM);
+
+    vecColBOffs0 = vldrhq_u16((uint16_t const *) offsetB0);
+
+    pInB = (float16_t const *)pSrcB->pData;
+
+    vecA0 = vldrhq_f16(pInA0);
+    vecA1 = vldrhq_f16(pInA1);
+    vecA2 = vldrhq_f16(pInA2);
+
+    vecB = vldrhq_gather_shifted_offset_z(pInB, vecColBOffs0, p0);
+
+    acc0 = vcmulq(vecA0, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA0, vecB);
+
+    acc1 = vcmulq(vecA1, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA1, vecB);
+
+    acc2 = vcmulq(vecA2, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA2, vecB);
+
+    mve_cmplx_sum_intra_vec_f16(acc0, &pOut[0 * CMPLX_DIM * MATRIX_DIM]);
+    mve_cmplx_sum_intra_vec_f16(acc1, &pOut[1 * CMPLX_DIM * MATRIX_DIM]);
+    mve_cmplx_sum_intra_vec_f16(acc2, &pOut[2 * CMPLX_DIM * MATRIX_DIM]);
+    pOut += CMPLX_DIM;
+    /*
+     * move to next B column
+     */
+    pInB = pInB + CMPLX_DIM;
+
+    vecB = vldrhq_gather_shifted_offset_z(pInB, vecColBOffs0, p0);
+
+    acc0 = vcmulq(vecA0, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA0, vecB);
+
+    acc1 = vcmulq(vecA1, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA1, vecB);
+
+    acc2 = vcmulq(vecA2, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA2, vecB);
+
+    mve_cmplx_sum_intra_vec_f16(acc0, &pOut[0 * CMPLX_DIM * MATRIX_DIM]);
+    mve_cmplx_sum_intra_vec_f16(acc1, &pOut[1 * CMPLX_DIM * MATRIX_DIM]);
+    mve_cmplx_sum_intra_vec_f16(acc2, &pOut[2 * CMPLX_DIM * MATRIX_DIM]);
+    pOut += CMPLX_DIM;
+    /*
+     * move to next B column
+     */
+    pInB = pInB + CMPLX_DIM;
+
+    vecB = vldrhq_gather_shifted_offset_z(pInB, vecColBOffs0, p0);
+
+    acc0 = vcmulq(vecA0, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA0, vecB);
+
+    acc1 = vcmulq(vecA1, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA1, vecB);
+
+    acc2 = vcmulq(vecA2, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA2, vecB);
+
+    mve_cmplx_sum_intra_vec_f16(acc0, &pOut[0 * CMPLX_DIM * MATRIX_DIM]);
+    mve_cmplx_sum_intra_vec_f16(acc1, &pOut[1 * CMPLX_DIM * MATRIX_DIM]);
+    mve_cmplx_sum_intra_vec_f16(acc2, &pOut[2 * CMPLX_DIM * MATRIX_DIM]);
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+#undef MATRIX_DIM
+}
+
+
+
+
+__STATIC_FORCEINLINE arm_status arm_mat_cmplx_mult_f16_4x4_mve(
+    const arm_matrix_instance_f16 * pSrcA,
+    const arm_matrix_instance_f16 * pSrcB,
+    arm_matrix_instance_f16 * pDst)
+{
+#define MATRIX_DIM 4
+    float16_t const *pInB = pSrcB->pData;  /* input data matrix pointer B */
+    float16_t       *pInA = pSrcA->pData;  /* input data matrix pointer A */
+    float16_t       *pOut = pDst->pData;   /* output data matrix pointer */
+    uint16x8_t     vecColBOffs0;
+    float16_t       *pInA0 = pInA;
+    float16_t       *pInA1 = pInA0 + CMPLX_DIM * MATRIX_DIM;
+    float16_t       *pInA2 = pInA1 + CMPLX_DIM * MATRIX_DIM;
+    float16_t       *pInA3 = pInA2 + CMPLX_DIM * MATRIX_DIM;
+    f16x8_t        acc0, acc1, acc2, acc3;
+    f16x8_t        vecB, vecA;
+    static const uint16_t offsetB0[8] = { 0, 1,
+        MATRIX_DIM * CMPLX_DIM, MATRIX_DIM * CMPLX_DIM + 1,
+        2 * MATRIX_DIM * CMPLX_DIM, 2 * MATRIX_DIM * CMPLX_DIM + 1,
+        3 * MATRIX_DIM * CMPLX_DIM, 3 * MATRIX_DIM * CMPLX_DIM + 1
+    };
+
+    vecColBOffs0 = vldrhq_u16((uint16_t const *) offsetB0);
+
+    pInB = (float16_t const *)pSrcB->pData;
+
+    vecB = vldrhq_gather_shifted_offset(pInB, vecColBOffs0);
+
+    vecA = vldrhq_f16(pInA0);
+    acc0 = vcmulq(vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrhq_f16(pInA1);
+    acc1 = vcmulq(vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    vecA = vldrhq_f16(pInA2);
+    acc2 = vcmulq(vecA, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+    vecA = vldrhq_f16(pInA3);
+    acc3 = vcmulq(vecA, vecB);
+    acc3 = vcmlaq_rot90(acc3, vecA, vecB);
+
+
+    mve_cmplx_sum_intra_vec_f16(acc0, &pOut[0 * CMPLX_DIM * MATRIX_DIM]);
+    mve_cmplx_sum_intra_vec_f16(acc1, &pOut[1 * CMPLX_DIM * MATRIX_DIM]);
+    mve_cmplx_sum_intra_vec_f16(acc2, &pOut[2 * CMPLX_DIM * MATRIX_DIM]);
+    mve_cmplx_sum_intra_vec_f16(acc3, &pOut[3 * CMPLX_DIM * MATRIX_DIM]);
+    pOut += CMPLX_DIM;
+    /*
+     * move to next B column
+     */
+    pInB = pInB + CMPLX_DIM;
+
+    vecB = vldrhq_gather_shifted_offset(pInB, vecColBOffs0);
+
+    vecA = vldrhq_f16(pInA0);
+    acc0 = vcmulq(vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrhq_f16(pInA1);
+    acc1 = vcmulq(vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    vecA = vldrhq_f16(pInA2);
+    acc2 = vcmulq(vecA, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+    vecA = vldrhq_f16(pInA3);
+    acc3 = vcmulq(vecA, vecB);
+    acc3 = vcmlaq_rot90(acc3, vecA, vecB);
+
+
+    mve_cmplx_sum_intra_vec_f16(acc0, &pOut[0 * CMPLX_DIM * MATRIX_DIM]);
+    mve_cmplx_sum_intra_vec_f16(acc1, &pOut[1 * CMPLX_DIM * MATRIX_DIM]);
+    mve_cmplx_sum_intra_vec_f16(acc2, &pOut[2 * CMPLX_DIM * MATRIX_DIM]);
+    mve_cmplx_sum_intra_vec_f16(acc3, &pOut[3 * CMPLX_DIM * MATRIX_DIM]);
+    pOut += CMPLX_DIM;
+    /*
+     * move to next B column
+     */
+    pInB = pInB + CMPLX_DIM;
+
+    vecB = vldrhq_gather_shifted_offset(pInB, vecColBOffs0);
+
+    vecA = vldrhq_f16(pInA0);
+    acc0 = vcmulq(vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrhq_f16(pInA1);
+    acc1 = vcmulq(vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    vecA = vldrhq_f16(pInA2);
+    acc2 = vcmulq(vecA, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+    vecA = vldrhq_f16(pInA3);
+    acc3 = vcmulq(vecA, vecB);
+    acc3 = vcmlaq_rot90(acc3, vecA, vecB);
+
+
+    mve_cmplx_sum_intra_vec_f16(acc0, &pOut[0 * CMPLX_DIM * MATRIX_DIM]);
+    mve_cmplx_sum_intra_vec_f16(acc1, &pOut[1 * CMPLX_DIM * MATRIX_DIM]);
+    mve_cmplx_sum_intra_vec_f16(acc2, &pOut[2 * CMPLX_DIM * MATRIX_DIM]);
+    mve_cmplx_sum_intra_vec_f16(acc3, &pOut[3 * CMPLX_DIM * MATRIX_DIM]);
+    pOut += CMPLX_DIM;
+    /*
+     * move to next B column
+     */
+    pInB = pInB + CMPLX_DIM;
+
+    vecB = vldrhq_gather_shifted_offset(pInB, vecColBOffs0);
+
+    vecA = vldrhq_f16(pInA0);
+    acc0 = vcmulq(vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrhq_f16(pInA1);
+    acc1 = vcmulq(vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    vecA = vldrhq_f16(pInA2);
+    acc2 = vcmulq(vecA, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+    vecA = vldrhq_f16(pInA3);
+    acc3 = vcmulq(vecA, vecB);
+    acc3 = vcmlaq_rot90(acc3, vecA, vecB);
+
+
+    mve_cmplx_sum_intra_vec_f16(acc0, &pOut[0 * CMPLX_DIM * MATRIX_DIM]);
+    mve_cmplx_sum_intra_vec_f16(acc1, &pOut[1 * CMPLX_DIM * MATRIX_DIM]);
+    mve_cmplx_sum_intra_vec_f16(acc2, &pOut[2 * CMPLX_DIM * MATRIX_DIM]);
+    mve_cmplx_sum_intra_vec_f16(acc3, &pOut[3 * CMPLX_DIM * MATRIX_DIM]);
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+#undef MATRIX_DIM
+}
+
+
+
+arm_status arm_mat_cmplx_mult_f16(
+  const arm_matrix_instance_f16 * pSrcA,
+  const arm_matrix_instance_f16 * pSrcB,
+  arm_matrix_instance_f16 * pDst)
+{
+    float16_t const *pInB = (float16_t const *) pSrcB->pData;   /* input data matrix pointer B */
+    float16_t const *pInA = (float16_t const *) pSrcA->pData;   /* input data matrix pointer A */
+    float16_t *pOut = pDst->pData;  /* output data matrix pointer */
+    float16_t *px;              /* Temporary output data matrix pointer */
+    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, row = numRowsA;  /* loop counters */
+    arm_status status;          /* status of matrix multiplication */
+    uint16x8_t vecOffs, vecColBOffs;
+    uint32_t  blkCnt,rowCnt;           /* loop counters */
+
+    #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] = (_Float16)pInA[0] * (_Float16)pInB[0] - (_Float16)pInA[1] * (_Float16)pInB[1];
+            pOut[1] = (_Float16)pInA[0] * (_Float16)pInB[1] + (_Float16)pInA[1] * (_Float16)pInB[0];
+            return (ARM_MATH_SUCCESS);
+        }
+        else if  (numRowsA == 2)
+            return arm_mat_cmplx_mult_f16_2x2_mve(pSrcA, pSrcB, pDst);
+        else if (numRowsA == 3)
+            return arm_mat_cmplx_mult_f16_3x3_mve(pSrcA, pSrcB, pDst);
+        else if (numRowsA == 4)
+            return arm_mat_cmplx_mult_f16_4x4_mve(pSrcA, pSrcB, pDst);
+    }
+
+    vecColBOffs[0] = 0;
+    vecColBOffs[1] = 1;
+    vecColBOffs[2] = numColsB * CMPLX_DIM;
+    vecColBOffs[3] = (numColsB * CMPLX_DIM) + 1;
+    vecColBOffs[4] = 2*numColsB * CMPLX_DIM;
+    vecColBOffs[5] = 2*(numColsB * CMPLX_DIM) + 1;
+    vecColBOffs[6] = 3*numColsB * CMPLX_DIM;
+    vecColBOffs[7] = 3*(numColsB * CMPLX_DIM) + 1;
+
+    /*
+     * The following loop performs the dot-product of each row in pSrcA with each column in pSrcB
+     */
+
+    /*
+     * row loop
+     */
+    rowCnt = row >> 2;
+    while (rowCnt > 0u)
+    {
+        /*
+         * Output pointer is set to starting address of the row being processed
+         */
+        px = pOut + i * CMPLX_DIM;
+        i = i + 4 * numColsB;
+        /*
+         * For every row wise process, the column loop counter is to be initiated
+         */
+        col = numColsB;
+        /*
+         * For every row wise process, the pInB pointer is set
+         * to the starting address of the pSrcB data
+         */
+        pInB = (float16_t const *) pSrcB->pData;
+        /*
+         * column loop
+         */
+        while (col > 0u)
+        {
+            /*
+             * generate 4 columns elements
+             */
+            /*
+             * Matrix A columns number of MAC operations are to be performed
+             */
+
+            float16_t const *pSrcA0Vec, *pSrcA1Vec, *pSrcA2Vec, *pSrcA3Vec;
+            float16_t const *pInA0 = pInA;
+            float16_t const *pInA1 = pInA0 + numColsA * CMPLX_DIM;
+            float16_t const *pInA2 = pInA1 + numColsA * CMPLX_DIM;
+            float16_t const *pInA3 = pInA2 + numColsA * CMPLX_DIM;
+            f16x8_t acc0, acc1, acc2, acc3;
+
+            acc0 = vdupq_n_f16(0.0f16);
+            acc1 = vdupq_n_f16(0.0f16);
+            acc2 = vdupq_n_f16(0.0f16);
+            acc3 = vdupq_n_f16(0.0f16);
+
+            pSrcA0Vec = (float16_t const *) pInA0;
+            pSrcA1Vec = (float16_t const *) pInA1;
+            pSrcA2Vec = (float16_t const *) pInA2;
+            pSrcA3Vec = (float16_t const *) pInA3;
+
+            vecOffs = vecColBOffs;
+
+            /*
+             * process 1 x 4 block output
+             */
+            blkCnt = (numColsA * CMPLX_DIM) >> 3;
+            while (blkCnt > 0U)
+            {
+                f16x8_t vecB, vecA;
+
+                vecB = vldrhq_gather_shifted_offset_f16(pInB, vecOffs);
+                /*
+                 * move Matrix B read offsets, 4 rows down
+                 */
+                vecOffs = vaddq_n_u16(vecOffs , (uint16_t) (numColsB * 4 * CMPLX_DIM));
+
+                vecA = vld1q(pSrcA0Vec);  pSrcA0Vec += 8;
+                acc0 = vcmlaq(acc0, vecA, vecB);
+                acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+                vecA = vld1q(pSrcA1Vec);  pSrcA1Vec += 8;
+                acc1 = vcmlaq(acc1, vecA, vecB);
+                acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+                vecA = vld1q(pSrcA2Vec);  pSrcA2Vec += 8;
+                acc2 = vcmlaq(acc2, vecA, vecB);
+                acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+                vecA = vld1q(pSrcA3Vec);  pSrcA3Vec += 8;
+                acc3 = vcmlaq(acc3, vecA, vecB);
+                acc3 = vcmlaq_rot90(acc3, vecA, vecB);
+
+                blkCnt--;
+            }
+            /*
+             * Unsupported addressing mode compiler crash
+             */
+            /*
+             * tail
+             * (will be merged thru tail predication)
+             */
+            blkCnt = (numColsA * CMPLX_DIM) & 7;
+            if (blkCnt > 0U)
+            {
+                mve_pred16_t p0 = vctp16q(blkCnt);
+                f16x8_t vecB, vecA;
+
+                vecB = vldrhq_gather_shifted_offset_z_f16(pInB, vecOffs, p0);
+                /*
+                 * move Matrix B read offsets, 4 rows down
+                 */
+                vecOffs = vaddq_n_u16(vecOffs, (uint16_t) (numColsB * 4 * CMPLX_DIM));
+
+                vecA = vld1q(pSrcA0Vec);
+                acc0 = vcmlaq(acc0, vecA, vecB);
+                acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+                vecA = vld1q(pSrcA1Vec);
+                acc1 = vcmlaq(acc1, vecA, vecB);
+                acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+                vecA = vld1q(pSrcA2Vec);
+                acc2 = vcmlaq(acc2, vecA, vecB);
+                acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+                vecA = vld1q(pSrcA3Vec);
+                acc3 = vcmlaq(acc3, vecA, vecB);
+                acc3 = vcmlaq_rot90(acc3, vecA, vecB);
+
+            }
+
+
+            mve_cmplx_sum_intra_vec_f16(acc0, &px[0 * CMPLX_DIM * numColsB + 0]);
+            mve_cmplx_sum_intra_vec_f16(acc1, &px[1 * CMPLX_DIM * numColsB + 0]);
+            mve_cmplx_sum_intra_vec_f16(acc2, &px[2 * CMPLX_DIM * numColsB + 0]);
+            mve_cmplx_sum_intra_vec_f16(acc3, &px[3 * CMPLX_DIM * numColsB + 0]);
+           
+            px += CMPLX_DIM;
+            /*
+             * Decrement the column loop counter
+             */
+            col--;
+            /*
+             * Update the pointer pInB to point to the  starting address of the next column
+             */
+            pInB = (float16_t const *) pSrcB->pData + (numColsB - col) * CMPLX_DIM;
+        }
+
+        /*
+         * Update the pointer pInA to point to the  starting address of the next row
+         */
+        pInA += (numColsA * 4) * CMPLX_DIM;
+        /*
+         * Decrement the row loop counter
+         */
+        rowCnt --;
+
+    }
+
+    rowCnt = row & 3;
+    while (rowCnt > 0u)
+    {
+           /*
+         * Output pointer is set to starting address of the row being processed
+         */
+        px = pOut + i * CMPLX_DIM;
+        i = i + numColsB;
+        /*
+         * For every row wise process, the column loop counter is to be initiated
+         */
+        col = numColsB;
+        /*
+         * For every row wise process, the pInB pointer is set
+         * to the starting address of the pSrcB data
+         */
+        pInB = (float16_t const *) pSrcB->pData;
+        /*
+         * column loop
+         */
+        while (col > 0u)
+        {
+            /*
+             * generate 4 columns elements
+             */
+            /*
+             * Matrix A columns number of MAC operations are to be performed
+             */
+
+            float16_t const *pSrcA0Vec;
+            float16_t const *pInA0 = pInA;
+            f16x8_t acc0;
+
+            acc0 = vdupq_n_f16(0.0f16);
+
+            pSrcA0Vec = (float16_t const *) pInA0;
+           
+            vecOffs = vecColBOffs;
+
+            /*
+             * process 1 x 4 block output
+             */
+            blkCnt = (numColsA * CMPLX_DIM) >> 3;
+            while (blkCnt > 0U)
+            {
+                f16x8_t vecB, vecA;
+
+                vecB = vldrhq_gather_shifted_offset(pInB, vecOffs);
+                /*
+                 * move Matrix B read offsets, 4 rows down
+                 */
+                vecOffs = vaddq_n_u16(vecOffs, (uint16_t) (4*numColsB * CMPLX_DIM));
+
+                vecA = vld1q(pSrcA0Vec);  
+                pSrcA0Vec += 8;
+                acc0 = vcmlaq(acc0, vecA, vecB);
+                acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+                
+
+                blkCnt--;
+            }
+
+
+            /*
+             * tail
+             */
+            blkCnt = (numColsA * CMPLX_DIM) & 7;
+            if (blkCnt > 0U)
+            {
+                mve_pred16_t p0 = vctp16q(blkCnt);
+                f16x8_t vecB, vecA;
+
+                vecB = vldrhq_gather_shifted_offset_z(pInB, vecOffs, p0);
+               
+                vecA = vld1q(pSrcA0Vec);
+                acc0 = vcmlaq(acc0, vecA, vecB);
+                acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+            }
+
+            mve_cmplx_sum_intra_vec_f16(acc0, &px[0]);
+
+           
+            px += CMPLX_DIM;
+            /*
+             * Decrement the column loop counter
+             */
+            col--;
+            /*
+             * Update the pointer pInB to point to the  starting address of the next column
+             */
+            pInB = (float16_t const *) pSrcB->pData + (numColsB - col) * CMPLX_DIM;
+        }
+
+        /*
+         * Update the pointer pInA to point to the  starting address of the next row
+         */
+        pInA += numColsA  * CMPLX_DIM;
+        rowCnt--;
+    }
+
+    /*
+     * set status as ARM_MATH_SUCCESS
+     */
+    status = ARM_MATH_SUCCESS;
+ }
+    /*
+     * Return to application
+     */
+    return (status);
+}
+#else
+
+arm_status arm_mat_cmplx_mult_f16(
+  const arm_matrix_instance_f16 * pSrcA,
+  const arm_matrix_instance_f16 * pSrcB,
+        arm_matrix_instance_f16 * pDst)
+{
+  float16_t *pIn1 = pSrcA->pData;                /* Input data matrix pointer A */
+  float16_t *pIn2 = pSrcB->pData;                /* Input data matrix pointer B */
+  float16_t *pInA = pSrcA->pData;                /* Input data matrix pointer A */
+  float16_t *pOut = pDst->pData;                 /* Output data matrix pointer */
+  float16_t *px;                                 /* Temporary output data matrix pointer */
+  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 */
+  _Float16 sumReal, sumImag;                    /* Accumulator */
+  _Float16 a1, b1, c1, d1;
+  uint32_t col, i = 0U, j, row = numRowsA, colCnt; /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+
+#if defined (ARM_MATH_LOOPUNROLL)
+  _Float16 a0, b0, c0, d0;
+#endif
+
+#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 the row being processed */
+      px = pOut + 2 * 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 */
+        sumReal = 0.0f16;
+        sumImag = 0.0f16;
+
+        /* Initiate pointer pIn1 to point to starting address of column being processed */
+        pIn1 = pInA;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        colCnt = numColsA >> 2U;
+
+        /* matrix multiplication */
+        while (colCnt > 0U)
+        {
+
+          /* Reading real part of complex matrix A */
+          a0 = *pIn1;
+
+          /* Reading real part of complex matrix B */
+          c0 = *pIn2;
+
+          /* Reading imaginary part of complex matrix A */
+          b0 = *(pIn1 + 1U);
+
+          /* Reading imaginary part of complex matrix B */
+          d0 = *(pIn2 + 1U);
+
+          /* Multiply and Accumlates */
+          sumReal += a0 * c0;
+          sumImag += b0 * c0;
+
+          /* update pointers */
+          pIn1 += 2U;
+          pIn2 += 2 * numColsB;
+
+          /* Multiply and Accumlates */
+          sumReal -= b0 * d0;
+          sumImag += a0 * d0;
+
+          /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+          /* read real and imag values from pSrcA and pSrcB buffer */
+          a1 = *(pIn1     );
+          c1 = *(pIn2     );
+          b1 = *(pIn1 + 1U);
+          d1 = *(pIn2 + 1U);
+
+          /* Multiply and Accumlates */
+          sumReal += a1 * c1;
+          sumImag += b1 * c1;
+
+          /* update pointers */
+          pIn1 += 2U;
+          pIn2 += 2 * numColsB;
+
+          /* Multiply and Accumlates */
+          sumReal -= b1 * d1;
+          sumImag += a1 * d1;
+
+          a0 = *(pIn1     );
+          c0 = *(pIn2     );
+          b0 = *(pIn1 + 1U);
+          d0 = *(pIn2 + 1U);
+
+          /* Multiply and Accumlates */
+          sumReal += a0 * c0;
+          sumImag += b0 * c0;
+
+          /* update pointers */
+          pIn1 += 2U;
+          pIn2 += 2 * numColsB;
+
+          /* Multiply and Accumlates */
+          sumReal -= b0 * d0;
+          sumImag += a0 * d0;
+
+          /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+          a1 = *(pIn1     );
+          c1 = *(pIn2     );
+          b1 = *(pIn1 + 1U);
+          d1 = *(pIn2 + 1U);
+
+          /* Multiply and Accumlates */
+          sumReal += a1 * c1;
+          sumImag += b1 * c1;
+
+          /* update pointers */
+          pIn1 += 2U;
+          pIn2 += 2 * numColsB;
+
+          /* Multiply and Accumlates */
+          sumReal -= b1 * d1;
+          sumImag += a1 * d1;
+
+          /* Decrement loop count */
+          colCnt--;
+        }
+
+        /* If the columns of pSrcA is not a multiple of 4, compute any remaining MACs here.
+         ** No loop unrolling is used. */
+        colCnt = numColsA % 0x4U;
+
+#else
+
+        /* Initialize blkCnt with number of samples */
+        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) */
+          a1 = *(pIn1     );
+          c1 = *(pIn2     );
+          b1 = *(pIn1 + 1U);
+          d1 = *(pIn2 + 1U);
+
+          /* Multiply and Accumlates */
+          sumReal += a1 * c1;
+          sumImag += b1 * c1;
+
+          /* update pointers */
+          pIn1 += 2U;
+          pIn2 += 2 * numColsB;
+
+          /* Multiply and Accumlates */
+          sumReal -= b1 * d1;
+          sumImag += a1 * d1;
+
+          /* Decrement loop counter */
+          colCnt--;
+        }
+
+        /* Store result in destination buffer */
+        *px++ = sumReal;
+        *px++ = sumImag;
+
+        /* Update pointer pIn2 to point to starting address of next column */
+        j++;
+        pIn2 = pSrcB->pData + 2U * j;
+
+        /* Decrement column loop counter */
+        col--;
+
+      } while (col > 0U);
+
+      /* Update pointer pInA to point to starting address of next row */
+      i = i + numColsB;
+      pInA = pInA + 2 * 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 /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
+
+/**
+  @} end of MatrixMult group
+ */
+
+#endif /* #if defined(ARM_FLOAT16_SUPPORTED) */ 
+
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_f32.c
new file mode 100644
index 0000000..5add938
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_f32.c
@@ -0,0 +1,1407 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_cmplx_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"
+
+/**
+  @ingroup groupMatrix
+ */
+
+/**
+  @defgroup CmplxMatrixMult  Complex Matrix Multiplication
+
+  Complex 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.
+  @par
+  When matrix size checking is enabled, the functions check:
+   - that the inner dimensions of <code>pSrcA</code> and <code>pSrcB</code> are equal;
+   - that the size of the output matrix equals the outer dimensions of <code>pSrcA</code> and <code>pSrcB</code>.
+ */
+
+
+/**
+  @addtogroup CmplxMatrixMult
+  @{
+ */
+
+/**
+  @brief         Floating-point Complex matrix multiplication.
+  @param[in]     pSrcA      points to first input complex matrix structure
+  @param[in]     pSrcB      points to second input complex matrix structure
+  @param[out]    pDst       points to output complex matrix structure
+  @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"
+
+#define MATRIX_DIM2 2
+#define MATRIX_DIM3 3
+#define MATRIX_DIM4 4
+
+__STATIC_INLINE arm_status arm_mat_cmplx_mult_f32_2x2_mve(
+    const arm_matrix_instance_f32 * pSrcA,
+    const arm_matrix_instance_f32 * pSrcB,
+    arm_matrix_instance_f32 * pDst)
+{
+    float32_t const *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 */
+    uint32x4_t   vecColBOffs0;
+    float32_t       *pInA0 = pInA;
+    float32_t       *pInA1 = pInA0 + CMPLX_DIM * MATRIX_DIM2;
+    f32x4_t    acc0, acc1;
+    f32x4_t    vecB, vecA;
+
+    static const uint32_t offsetB0[4] = { 0, 1,
+        MATRIX_DIM2 * CMPLX_DIM, MATRIX_DIM2 * CMPLX_DIM + 1
+    };
+
+    vecColBOffs0 = vldrwq_u32((uint32_t const *) offsetB0);
+
+    pInB = (float32_t const *)pSrcB->pData;
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs0);
+
+    vecA = vldrwq_f32(pInA0);
+    acc0 = vcmulq(vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA1);
+    acc1 = vcmulq(vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    pOut[0 * CMPLX_DIM * MATRIX_DIM2 + 0] = acc0[0] + acc0[2];
+    pOut[0 * CMPLX_DIM * MATRIX_DIM2 + 1] = acc0[1] + acc0[3];
+    pOut[1 * CMPLX_DIM * MATRIX_DIM2 + 0] = acc1[0] + acc1[2];
+    pOut[1 * CMPLX_DIM * MATRIX_DIM2 + 1] = acc1[1] + acc1[3];
+    pOut += CMPLX_DIM;
+
+    /*
+     * move to next B column
+     */
+    pInB = pInB + CMPLX_DIM;
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs0);
+
+    vecA = vldrwq_f32(pInA0);
+    acc0 = vcmulq(vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA1);
+    acc1 = vcmulq(vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    pOut[0 * CMPLX_DIM * MATRIX_DIM2 + 0] = acc0[0] + acc0[2];
+    pOut[0 * CMPLX_DIM * MATRIX_DIM2 + 1] = acc0[1] + acc0[3];
+    pOut[1 * CMPLX_DIM * MATRIX_DIM2 + 0] = acc1[0] + acc1[2];
+    pOut[1 * CMPLX_DIM * MATRIX_DIM2 + 1] = acc1[1] + acc1[3];
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+}
+
+
+__STATIC_INLINE arm_status arm_mat_cmplx_mult_f32_3x3_mve(
+    const arm_matrix_instance_f32 * pSrcA,
+    const arm_matrix_instance_f32 * pSrcB,
+    arm_matrix_instance_f32 * pDst)
+{
+    float32_t const *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 */
+    uint32x4_t   vecColBOffs0, vecColBOffs1;
+    float32_t       *pInA0 = pInA;
+    float32_t       *pInA1 = pInA0 + CMPLX_DIM * MATRIX_DIM3;
+    float32_t       *pInA2 = pInA1 + CMPLX_DIM * MATRIX_DIM3;
+    f32x4_t    acc0, acc1, acc2;
+    f32x4_t    vecB, vecA;
+    /* enable predication to disable upper half complex vector element */
+    mve_pred16_t p0 = vctp32q(CMPLX_DIM);
+
+    static const uint32_t offsetB0[4] = { 0, 1,
+        MATRIX_DIM3 * CMPLX_DIM, MATRIX_DIM3 * CMPLX_DIM + 1
+    };
+    static const uint32_t offsetB1[4] = { 2 * MATRIX_DIM3 * CMPLX_DIM, 2 * MATRIX_DIM3 * CMPLX_DIM + 1,
+       INACTIVELANE, INACTIVELANE
+    };
+
+    vecColBOffs0 = vldrwq_u32((uint32_t const *) offsetB0);
+    vecColBOffs1 = vldrwq_u32((uint32_t const *) offsetB1);
+
+    pInB = (float32_t const *)pSrcB->pData;
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs0);
+
+    vecA = vldrwq_f32(pInA0);
+    acc0 = vcmulq(vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA1);
+    acc1 = vcmulq(vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA2);
+    acc2 = vcmulq(vecA, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+
+    vecB = vldrwq_gather_shifted_offset_z(pInB, vecColBOffs1, p0);
+
+    vecA = vldrwq_f32(&pInA0[4]);
+    acc0 = vcmlaq(acc0, vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrwq_f32(&pInA1[4]);
+    acc1 = vcmlaq(acc1, vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    vecA = vldrwq_f32(&pInA2[4]);
+    acc2 = vcmlaq(acc2, vecA, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+
+    pOut[0 * CMPLX_DIM * MATRIX_DIM3 + 0] = acc0[0] + acc0[2];
+    pOut[0 * CMPLX_DIM * MATRIX_DIM3 + 1] = acc0[1] + acc0[3];
+    pOut[1 * CMPLX_DIM * MATRIX_DIM3 + 0] = acc1[0] + acc1[2];
+    pOut[1 * CMPLX_DIM * MATRIX_DIM3 + 1] = acc1[1] + acc1[3];
+    pOut[2 * CMPLX_DIM * MATRIX_DIM3 + 0] = acc2[0] + acc2[2];
+    pOut[2 * CMPLX_DIM * MATRIX_DIM3 + 1] = acc2[1] + acc2[3];
+    pOut += CMPLX_DIM;
+
+    /*
+     * move to next B column
+     */
+    pInB = pInB + CMPLX_DIM;
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs0);
+
+    vecA = vldrwq_f32(pInA0);
+    acc0 = vcmulq(vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA1);
+    acc1 = vcmulq(vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA2);
+    acc2 = vcmulq(vecA, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+     vecB = vldrwq_gather_shifted_offset_z(pInB, vecColBOffs1, p0);
+
+    vecA = vldrwq_f32(&pInA0[4]);
+    acc0 = vcmlaq(acc0, vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrwq_f32(&pInA1[4]);
+    acc1 = vcmlaq(acc1, vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    vecA = vldrwq_f32(&pInA2[4]);
+    acc2 = vcmlaq(acc2, vecA, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+
+    pOut[0 * CMPLX_DIM * MATRIX_DIM3 + 0] = acc0[0] + acc0[2];
+    pOut[0 * CMPLX_DIM * MATRIX_DIM3 + 1] = acc0[1] + acc0[3];
+    pOut[1 * CMPLX_DIM * MATRIX_DIM3 + 0] = acc1[0] + acc1[2];
+    pOut[1 * CMPLX_DIM * MATRIX_DIM3 + 1] = acc1[1] + acc1[3];
+    pOut[2 * CMPLX_DIM * MATRIX_DIM3 + 0] = acc2[0] + acc2[2];
+    pOut[2 * CMPLX_DIM * MATRIX_DIM3 + 1] = acc2[1] + acc2[3];
+    pOut += CMPLX_DIM;
+
+    /*
+     * move to next B column
+     */
+    pInB = pInB + CMPLX_DIM;
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs0);
+
+    vecA = vldrwq_f32(pInA0);
+    acc0 = vcmulq(vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA1);
+    acc1 = vcmulq(vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA2);
+    acc2 = vcmulq(vecA, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+     vecB = vldrwq_gather_shifted_offset_z(pInB, vecColBOffs1, p0);
+
+    vecA = vldrwq_f32(&pInA0[4]);
+    acc0 = vcmlaq(acc0, vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrwq_f32(&pInA1[4]);
+    acc1 = vcmlaq(acc1, vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    vecA = vldrwq_f32(&pInA2[4]);
+    acc2 = vcmlaq(acc2, vecA, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+
+    pOut[0 * CMPLX_DIM * MATRIX_DIM3 + 0] = acc0[0] + acc0[2];
+    pOut[0 * CMPLX_DIM * MATRIX_DIM3 + 1] = acc0[1] + acc0[3];
+    pOut[1 * CMPLX_DIM * MATRIX_DIM3 + 0] = acc1[0] + acc1[2];
+    pOut[1 * CMPLX_DIM * MATRIX_DIM3 + 1] = acc1[1] + acc1[3];
+    pOut[2 * CMPLX_DIM * MATRIX_DIM3 + 0] = acc2[0] + acc2[2];
+    pOut[2 * CMPLX_DIM * MATRIX_DIM3 + 1] = acc2[1] + acc2[3];
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+}
+
+
+
+__STATIC_INLINE arm_status arm_mat_cmplx_mult_f32_4x4_mve(
+    const arm_matrix_instance_f32 * pSrcA,
+    const arm_matrix_instance_f32 * pSrcB,
+    arm_matrix_instance_f32 * pDst)
+{
+    float32_t const *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 */
+    uint32x4_t   vecColBOffs0, vecColBOffs1;
+    float32_t       *pInA0 = pInA;
+    float32_t       *pInA1 = pInA0 + CMPLX_DIM * MATRIX_DIM4;
+    float32_t       *pInA2 = pInA1 + CMPLX_DIM * MATRIX_DIM4;
+    float32_t       *pInA3 = pInA2 + CMPLX_DIM * MATRIX_DIM4;
+    f32x4_t    acc0, acc1, acc2, acc3;
+    f32x4_t    vecB, vecA;
+
+    static const uint32_t offsetB0[4] = { 0, 1,
+        MATRIX_DIM4 * CMPLX_DIM, MATRIX_DIM4 * CMPLX_DIM + 1
+    };
+    static const uint32_t offsetB1[4] = { 2 * MATRIX_DIM4 * CMPLX_DIM, 2 * MATRIX_DIM4 * CMPLX_DIM + 1,
+        3 * MATRIX_DIM4 * CMPLX_DIM, 3 * MATRIX_DIM4 * CMPLX_DIM + 1
+    };
+
+    vecColBOffs0 = vldrwq_u32((uint32_t const *) offsetB0);
+    vecColBOffs1 = vldrwq_u32((uint32_t const *) offsetB1);
+
+    pInB = (float32_t const *)pSrcB->pData;
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs0);
+
+    vecA = vldrwq_f32(pInA0);
+    acc0 = vcmulq(vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA1);
+    acc1 = vcmulq(vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA2);
+    acc2 = vcmulq(vecA, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA3);
+    acc3 = vcmulq(vecA, vecB);
+    acc3 = vcmlaq_rot90(acc3, vecA, vecB);
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs1);
+
+    vecA = vldrwq_f32(&pInA0[4]);
+    acc0 = vcmlaq(acc0, vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrwq_f32(&pInA1[4]);
+    acc1 = vcmlaq(acc1, vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    vecA = vldrwq_f32(&pInA2[4]);
+    acc2 = vcmlaq(acc2, vecA, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+    vecA = vldrwq_f32(&pInA3[4]);
+    acc3 = vcmlaq(acc3, vecA, vecB);
+    acc3 = vcmlaq_rot90(acc3, vecA, vecB);
+
+    pOut[0 * CMPLX_DIM * MATRIX_DIM4 + 0] = acc0[0] + acc0[2];
+    pOut[0 * CMPLX_DIM * MATRIX_DIM4 + 1] = acc0[1] + acc0[3];
+    pOut[1 * CMPLX_DIM * MATRIX_DIM4 + 0] = acc1[0] + acc1[2];
+    pOut[1 * CMPLX_DIM * MATRIX_DIM4 + 1] = acc1[1] + acc1[3];
+    pOut[2 * CMPLX_DIM * MATRIX_DIM4 + 0] = acc2[0] + acc2[2];
+    pOut[2 * CMPLX_DIM * MATRIX_DIM4 + 1] = acc2[1] + acc2[3];
+    pOut[3 * CMPLX_DIM * MATRIX_DIM4 + 0] = acc3[0] + acc3[2];
+    pOut[3 * CMPLX_DIM * MATRIX_DIM4 + 1] = acc3[1] + acc3[3];
+    pOut += CMPLX_DIM;
+
+    /*
+     * move to next B column
+     */
+    pInB = pInB + CMPLX_DIM;
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs0);
+
+    vecA = vldrwq_f32(pInA0);
+    acc0 = vcmulq(vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA1);
+    acc1 = vcmulq(vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA2);
+    acc2 = vcmulq(vecA, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA3);
+    acc3 = vcmulq(vecA, vecB);
+    acc3 = vcmlaq_rot90(acc3, vecA, vecB);
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs1);
+
+    vecA = vldrwq_f32(&pInA0[4]);
+    acc0 = vcmlaq(acc0, vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrwq_f32(&pInA1[4]);
+    acc1 = vcmlaq(acc1, vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    vecA = vldrwq_f32(&pInA2[4]);
+    acc2 = vcmlaq(acc2, vecA, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+    vecA = vldrwq_f32(&pInA3[4]);
+    acc3 = vcmlaq(acc3, vecA, vecB);
+    acc3 = vcmlaq_rot90(acc3, vecA, vecB);
+
+    pOut[0 * CMPLX_DIM * MATRIX_DIM4 + 0] = acc0[0] + acc0[2];
+    pOut[0 * CMPLX_DIM * MATRIX_DIM4 + 1] = acc0[1] + acc0[3];
+    pOut[1 * CMPLX_DIM * MATRIX_DIM4 + 0] = acc1[0] + acc1[2];
+    pOut[1 * CMPLX_DIM * MATRIX_DIM4 + 1] = acc1[1] + acc1[3];
+    pOut[2 * CMPLX_DIM * MATRIX_DIM4 + 0] = acc2[0] + acc2[2];
+    pOut[2 * CMPLX_DIM * MATRIX_DIM4 + 1] = acc2[1] + acc2[3];
+    pOut[3 * CMPLX_DIM * MATRIX_DIM4 + 0] = acc3[0] + acc3[2];
+    pOut[3 * CMPLX_DIM * MATRIX_DIM4 + 1] = acc3[1] + acc3[3];
+    pOut += CMPLX_DIM;
+
+    /*
+     * move to next B column
+     */
+    pInB = pInB + CMPLX_DIM;
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs0);
+
+    vecA = vldrwq_f32(pInA0);
+    acc0 = vcmulq(vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA1);
+    acc1 = vcmulq(vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA2);
+    acc2 = vcmulq(vecA, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA3);
+    acc3 = vcmulq(vecA, vecB);
+    acc3 = vcmlaq_rot90(acc3, vecA, vecB);
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs1);
+
+    vecA = vldrwq_f32(&pInA0[4]);
+    acc0 = vcmlaq(acc0, vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrwq_f32(&pInA1[4]);
+    acc1 = vcmlaq(acc1, vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    vecA = vldrwq_f32(&pInA2[4]);
+    acc2 = vcmlaq(acc2, vecA, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+    vecA = vldrwq_f32(&pInA3[4]);
+    acc3 = vcmlaq(acc3, vecA, vecB);
+    acc3 = vcmlaq_rot90(acc3, vecA, vecB);
+
+    pOut[0 * CMPLX_DIM * MATRIX_DIM4 + 0] = acc0[0] + acc0[2];
+    pOut[0 * CMPLX_DIM * MATRIX_DIM4 + 1] = acc0[1] + acc0[3];
+    pOut[1 * CMPLX_DIM * MATRIX_DIM4 + 0] = acc1[0] + acc1[2];
+    pOut[1 * CMPLX_DIM * MATRIX_DIM4 + 1] = acc1[1] + acc1[3];
+    pOut[2 * CMPLX_DIM * MATRIX_DIM4 + 0] = acc2[0] + acc2[2];
+    pOut[2 * CMPLX_DIM * MATRIX_DIM4 + 1] = acc2[1] + acc2[3];
+    pOut[3 * CMPLX_DIM * MATRIX_DIM4 + 0] = acc3[0] + acc3[2];
+    pOut[3 * CMPLX_DIM * MATRIX_DIM4 + 1] = acc3[1] + acc3[3];
+    pOut += CMPLX_DIM;
+
+    /*
+     * move to next B column
+     */
+    pInB = pInB + CMPLX_DIM;
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs0);
+
+    vecA = vldrwq_f32(pInA0);
+    acc0 = vcmulq(vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA1);
+    acc1 = vcmulq(vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA2);
+    acc2 = vcmulq(vecA, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+    vecA = vldrwq_f32(pInA3);
+    acc3 = vcmulq(vecA, vecB);
+    acc3 = vcmlaq_rot90(acc3, vecA, vecB);
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs1);
+
+    vecA = vldrwq_f32(&pInA0[4]);
+    acc0 = vcmlaq(acc0, vecA, vecB);
+    acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+    vecA = vldrwq_f32(&pInA1[4]);
+    acc1 = vcmlaq(acc1, vecA, vecB);
+    acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+
+    vecA = vldrwq_f32(&pInA2[4]);
+    acc2 = vcmlaq(acc2, vecA, vecB);
+    acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+
+    vecA = vldrwq_f32(&pInA3[4]);
+    acc3 = vcmlaq(acc3, vecA, vecB);
+    acc3 = vcmlaq_rot90(acc3, vecA, vecB);
+
+    pOut[0 * CMPLX_DIM * MATRIX_DIM4 + 0] = acc0[0] + acc0[2];
+    pOut[0 * CMPLX_DIM * MATRIX_DIM4 + 1] = acc0[1] + acc0[3];
+    pOut[1 * CMPLX_DIM * MATRIX_DIM4 + 0] = acc1[0] + acc1[2];
+    pOut[1 * CMPLX_DIM * MATRIX_DIM4 + 1] = acc1[1] + acc1[3];
+    pOut[2 * CMPLX_DIM * MATRIX_DIM4 + 0] = acc2[0] + acc2[2];
+    pOut[2 * CMPLX_DIM * MATRIX_DIM4 + 1] = acc2[1] + acc2[3];
+    pOut[3 * CMPLX_DIM * MATRIX_DIM4 + 0] = acc3[0] + acc3[2];
+    pOut[3 * CMPLX_DIM * MATRIX_DIM4 + 1] = acc3[1] + acc3[3];
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+}
+
+arm_status arm_mat_cmplx_mult_f32(
+  const arm_matrix_instance_f32 * pSrcA,
+  const arm_matrix_instance_f32 * pSrcB,
+  arm_matrix_instance_f32 * pDst)
+{
+    float32_t const *pInB = (float32_t const *) pSrcB->pData;   /* input data matrix pointer B */
+    float32_t const *pInA = (float32_t const *) pSrcA->pData;   /* input data matrix pointer A */
+    float32_t *pOut = pDst->pData;  /* output data matrix pointer */
+    float32_t *px;              /* Temporary output data matrix pointer */
+    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, row = numRowsA;  /* loop counters */
+    arm_status status;          /* status of matrix multiplication */
+    uint32x4_t vecOffs, vecColBOffs;
+    uint32_t  blkCnt, rowCnt;           /* loop counters */
+
+  #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] - pInA[1] * pInB[1];
+            pOut[1] = pInA[0] * pInB[1] + pInA[1] * pInB[0];
+            return (ARM_MATH_SUCCESS);
+        }
+        else if (numRowsA == 2)
+            return arm_mat_cmplx_mult_f32_2x2_mve(pSrcA, pSrcB, pDst);
+        else if (numRowsA == 3)
+            return arm_mat_cmplx_mult_f32_3x3_mve(pSrcA, pSrcB, pDst);
+        else if (numRowsA == 4)
+            return arm_mat_cmplx_mult_f32_4x4_mve(pSrcA, pSrcB, pDst);
+    }
+
+    vecColBOffs[0] = 0;
+    vecColBOffs[1] = 1;
+    vecColBOffs[2] = numColsB * CMPLX_DIM;
+    vecColBOffs[3] = (numColsB * CMPLX_DIM) + 1;
+
+    /*
+     * The following loop performs the dot-product of each row in pSrcA with each column in pSrcB
+     */
+
+    /*
+     * row loop
+     */
+    rowCnt = row >> 2;
+    while (rowCnt > 0u)
+    {
+        /*
+         * Output pointer is set to starting address of the row being processed
+         */
+        px = pOut + i * CMPLX_DIM;
+        i = i + 4 * numColsB;
+        /*
+         * For every row wise process, the column loop counter is to be initiated
+         */
+        col = numColsB;
+        /*
+         * For every row wise process, the pInB pointer is set
+         * to the starting address of the pSrcB data
+         */
+        pInB = (float32_t const *) pSrcB->pData;
+        /*
+         * column loop
+         */
+        while (col > 0u)
+        {
+            /*
+             * generate 4 columns elements
+             */
+            /*
+             * Matrix A columns number of MAC operations are to be performed
+             */
+
+            float32_t const *pSrcA0Vec, *pSrcA1Vec, *pSrcA2Vec, *pSrcA3Vec;
+            float32_t const *pInA0 = pInA;
+            float32_t const *pInA1 = pInA0 + numColsA * CMPLX_DIM;
+            float32_t const *pInA2 = pInA1 + numColsA * CMPLX_DIM;
+            float32_t const *pInA3 = pInA2 + numColsA * CMPLX_DIM;
+            f32x4_t acc0, acc1, acc2, acc3;
+
+            acc0 = vdupq_n_f32(0.0f);
+            acc1 = vdupq_n_f32(0.0f);
+            acc2 = vdupq_n_f32(0.0f);
+            acc3 = vdupq_n_f32(0.0f);
+
+            pSrcA0Vec = (float32_t const *) pInA0;
+            pSrcA1Vec = (float32_t const *) pInA1;
+            pSrcA2Vec = (float32_t const *) pInA2;
+            pSrcA3Vec = (float32_t const *) pInA3;
+
+            vecOffs = vecColBOffs;
+
+            /*
+             * process 1 x 4 block output
+             */
+            blkCnt = (numColsA * CMPLX_DIM) >> 2;
+            while (blkCnt > 0U)
+            {
+                f32x4_t vecB, vecA;
+
+                vecB = vldrwq_gather_shifted_offset(pInB, vecOffs);
+                /*
+                 * move Matrix B read offsets, 4 rows down
+                 */
+                vecOffs = vecOffs + (uint32_t) (numColsB * 2 * CMPLX_DIM);
+
+                vecA = vld1q(pSrcA0Vec);  pSrcA0Vec += 4;
+                acc0 = vcmlaq(acc0, vecA, vecB);
+                acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+                vecA = vld1q(pSrcA1Vec); pSrcA1Vec += 4;
+                acc1 = vcmlaq(acc1, vecA, vecB);
+                acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+                vecA = vld1q(pSrcA2Vec);  pSrcA2Vec += 4;
+                acc2 = vcmlaq(acc2, vecA, vecB);
+                acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+                vecA = vld1q(pSrcA3Vec);  pSrcA3Vec += 4;
+                acc3 = vcmlaq(acc3, vecA, vecB);
+                acc3 = vcmlaq_rot90(acc3, vecA, vecB);
+
+                blkCnt--;
+            }
+            
+
+            /*
+             * tail
+             * (will be merged thru tail predication)
+             */
+            blkCnt = (numColsA * CMPLX_DIM) & 3;
+            if (blkCnt > 0U)
+            {
+                mve_pred16_t p0 = vctp32q(blkCnt);
+                f32x4_t vecB, vecA;
+
+                vecB = vldrwq_gather_shifted_offset_z(pInB, vecOffs, p0);
+                /*
+                 * move Matrix B read offsets, 4 rows down
+                 */
+                vecOffs = vecOffs + (uint32_t) (numColsB * 2 * CMPLX_DIM);
+
+                vecA = vld1q(pSrcA0Vec);
+                acc0 = vcmlaq(acc0, vecA, vecB);
+                acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+                vecA = vld1q(pSrcA1Vec);
+                acc1 = vcmlaq(acc1, vecA, vecB);
+                acc1 = vcmlaq_rot90(acc1, vecA, vecB);
+                vecA = vld1q(pSrcA2Vec);
+                acc2 = vcmlaq(acc2, vecA, vecB);
+                acc2 = vcmlaq_rot90(acc2, vecA, vecB);
+                vecA = vld1q(pSrcA3Vec);
+                acc3 = vcmlaq(acc3, vecA, vecB);
+                acc3 = vcmlaq_rot90(acc3, vecA, vecB);
+
+            }
+
+            px[0 * CMPLX_DIM * numColsB + 0] = acc0[0] + acc0[2];
+            px[0 * CMPLX_DIM * numColsB + 1] = acc0[1] + acc0[3];
+            px[1 * CMPLX_DIM * numColsB + 0] = acc1[0] + acc1[2];
+            px[1 * CMPLX_DIM * numColsB + 1] = acc1[1] + acc1[3];
+            px[2 * CMPLX_DIM * numColsB + 0] = acc2[0] + acc2[2];
+            px[2 * CMPLX_DIM * numColsB + 1] = acc2[1] + acc2[3];
+            px[3 * CMPLX_DIM * numColsB + 0] = acc3[0] + acc3[2];
+            px[3 * CMPLX_DIM * numColsB + 1] = acc3[1] + acc3[3];
+            px += CMPLX_DIM;
+            /*
+             * Decrement the column loop counter
+             */
+            col--;
+            /*
+             * Update the pointer pInB to point to the  starting address of the next column
+             */
+            pInB = (float32_t const *) pSrcB->pData + (numColsB - col) * CMPLX_DIM;
+        }
+
+        /*
+         * Update the pointer pInA to point to the  starting address of the next row
+         */
+        pInA += (numColsA * 4) * CMPLX_DIM;
+        /*
+         * Decrement the row loop counter
+         */
+        rowCnt --;
+
+    }
+
+    rowCnt = row & 3;
+    while (rowCnt > 0u)
+    {
+           /*
+         * Output pointer is set to starting address of the row being processed
+         */
+        px = pOut + i * CMPLX_DIM;
+        i = i + numColsB;
+        /*
+         * For every row wise process, the column loop counter is to be initiated
+         */
+        col = numColsB;
+        /*
+         * For every row wise process, the pInB pointer is set
+         * to the starting address of the pSrcB data
+         */
+        pInB = (float32_t const *) pSrcB->pData;
+        /*
+         * column loop
+         */
+        while (col > 0u)
+        {
+            /*
+             * generate 4 columns elements
+             */
+            /*
+             * Matrix A columns number of MAC operations are to be performed
+             */
+
+            float32_t const *pSrcA0Vec;
+            float32_t const *pInA0 = pInA;
+            f32x4_t acc0;
+
+            acc0 = vdupq_n_f32(0.0f);
+
+            pSrcA0Vec = (float32_t const *) pInA0;
+           
+            vecOffs = vecColBOffs;
+
+            /*
+             * process 1 x 4 block output
+             */
+            blkCnt = (numColsA * CMPLX_DIM) >> 2;
+            while (blkCnt > 0U)
+            {
+                f32x4_t vecB, vecA;
+
+                vecB = vldrwq_gather_shifted_offset(pInB, vecOffs);
+                /*
+                 * move Matrix B read offsets, 4 rows down
+                 */
+                vecOffs = vecOffs + (uint32_t) (numColsB * 2 * CMPLX_DIM);
+
+                vecA = vld1q(pSrcA0Vec);  
+                pSrcA0Vec += 4;
+                acc0 = vcmlaq(acc0, vecA, vecB);
+                acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+                
+
+                blkCnt--;
+            }
+
+
+            /*
+             * tail
+             */
+            blkCnt = (numColsA * CMPLX_DIM) & 3;
+            if (blkCnt > 0U)
+            {
+                mve_pred16_t p0 = vctp32q(blkCnt);
+                f32x4_t vecB, vecA;
+
+                vecB = vldrwq_gather_shifted_offset_z(pInB, vecOffs, p0);
+               
+                vecA = vld1q(pSrcA0Vec);
+                acc0 = vcmlaq(acc0, vecA, vecB);
+                acc0 = vcmlaq_rot90(acc0, vecA, vecB);
+
+            }
+
+            px[0] = acc0[0] + acc0[2];
+            px[1] = acc0[1] + acc0[3];
+           
+            px += CMPLX_DIM;
+            /*
+             * Decrement the column loop counter
+             */
+            col--;
+            /*
+             * Update the pointer pInB to point to the  starting address of the next column
+             */
+            pInB = (float32_t const *) pSrcB->pData + (numColsB - col) * CMPLX_DIM;
+        }
+
+        /*
+         * Update the pointer pInA to point to the  starting address of the next row
+         */
+        pInA += numColsA  * CMPLX_DIM;
+        rowCnt--;
+    }
+
+    
+      /* 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_cmplx_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 */
+  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 sumReal1, sumImag1;                  /* accumulator */
+  float32_t a1, a1B,b1, b1B, c1, d1;
+  float32_t sumReal2, sumImag2;                  /* accumulator */
+
+
+  float32x4x2_t a0V, a1V;
+  float32x4_t accR0,accI0, accR1,accI1,tempR, tempI;
+  float32x2_t accum = vdup_n_f32(0);
+  float32_t *pIn1B = pSrcA->pData;    
+
+  uint16_t col, i = 0U, j, rowCnt, row = numRowsA, colCnt;      /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+  float32_t sumReal1B, sumImag1B; 
+  float32_t sumReal2B, sumImag2B; 
+  float32_t *pxB;  
+
+#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 */
+
+    rowCnt = row >> 1;
+
+    /* Row loop */
+    while (rowCnt > 0U)
+    {
+      /* Output pointer is set to starting address of the row being processed */
+      px = pOut + 2 * i;
+      pxB = px + 2 * 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 */
+      while (col > 0U)
+      {
+        /* Set the variable sum, that acts as accumulator, to zero */
+        sumReal1 = 0.0f;
+        sumImag1 = 0.0f;
+        sumReal1B = 0.0f;
+        sumImag1B = 0.0f;
+
+        sumReal2 = 0.0f;
+        sumImag2 = 0.0f;
+        sumReal2B = 0.0f;
+        sumImag2B = 0.0f;
+
+        /* Initiate the pointer pIn1 to point to the starting address of the column being processed */
+        pIn1 = pInA;
+        pIn1B = pIn1 + 2*numColsA;
+
+        accR0 = vdupq_n_f32(0.0);
+        accI0 = vdupq_n_f32(0.0);
+        accR1 = vdupq_n_f32(0.0);
+        accI1 = vdupq_n_f32(0.0);
+
+        /* Compute 4 MACs simultaneously. */
+        colCnt = numColsA >> 2;
+
+        /* Matrix multiplication */
+        while (colCnt > 0U)
+        {
+          /* Reading real part of complex matrix A */
+          a0V = vld2q_f32(pIn1);  // load & separate real/imag pSrcA (de-interleave 2)
+          a1V = vld2q_f32(pIn1B);  // load & separate real/imag pSrcA (de-interleave 2)
+
+          pIn1 += 8;
+          pIn1B += 8;
+
+          tempR = vsetq_lane_f32(*pIn2,tempR,0);
+          tempI = vsetq_lane_f32(*(pIn2 + 1U),tempI,0);
+          pIn2 += 2 * numColsB;
+
+
+          tempR = vsetq_lane_f32(*pIn2,tempR,1);
+          tempI = vsetq_lane_f32(*(pIn2 + 1U),tempI,1);
+          pIn2 += 2 * numColsB;
+
+          tempR = vsetq_lane_f32(*pIn2,tempR,2);
+          tempI = vsetq_lane_f32(*(pIn2 + 1U),tempI,2);
+          pIn2 += 2 * numColsB;
+
+          tempR = vsetq_lane_f32(*pIn2,tempR,3);
+          tempI = vsetq_lane_f32(*(pIn2 + 1U),tempI,3);
+          pIn2 += 2 * numColsB;
+
+          accR0 = vmlaq_f32(accR0,a0V.val[0],tempR);
+          accR0 = vmlsq_f32(accR0,a0V.val[1],tempI);
+
+          accI0 = vmlaq_f32(accI0,a0V.val[1],tempR);
+          accI0 = vmlaq_f32(accI0,a0V.val[0],tempI);
+
+          accR1 = vmlaq_f32(accR1,a1V.val[0],tempR);
+          accR1 = vmlsq_f32(accR1,a1V.val[1],tempI);
+
+          accI1 = vmlaq_f32(accI1,a1V.val[1],tempR);
+          accI1 = vmlaq_f32(accI1,a1V.val[0],tempI);
+
+          /* Decrement the loop count */
+          colCnt--;
+        }
+
+        accum = vpadd_f32(vget_low_f32(accR0), vget_high_f32(accR0));
+        sumReal1 += vget_lane_f32(accum, 0) + vget_lane_f32(accum, 1);
+
+        accum = vpadd_f32(vget_low_f32(accI0), vget_high_f32(accI0));
+        sumImag1 += vget_lane_f32(accum, 0) + vget_lane_f32(accum, 1);
+
+        accum = vpadd_f32(vget_low_f32(accR1), vget_high_f32(accR1));
+        sumReal1B += vget_lane_f32(accum, 0) + vget_lane_f32(accum, 1);
+
+        accum = vpadd_f32(vget_low_f32(accI1), vget_high_f32(accI1));
+        sumImag1B += 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) */
+          a1 = *pIn1;
+          a1B = *pIn1B;
+
+          c1 = *pIn2;
+
+          b1 = *(pIn1 + 1U);
+          b1B = *(pIn1B + 1U);
+
+          d1 = *(pIn2 + 1U);
+
+          sumReal1 += a1 * c1;
+          sumImag1 += b1 * c1;
+
+          sumReal1B += a1B * c1;
+          sumImag1B += b1B * c1;
+
+          pIn1 += 2U;
+          pIn1B += 2U;
+          pIn2 += 2 * numColsB;
+
+          sumReal2 -= b1 * d1;
+          sumImag2 += a1 * d1;
+
+          sumReal2B -= b1B * d1;
+          sumImag2B += a1B * d1;
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        sumReal1 += sumReal2;
+        sumImag1 += sumImag2;
+
+        sumReal1B += sumReal2B;
+        sumImag1B += sumImag2B;
+
+        /* Store the result in the destination buffer */
+        *px++ = sumReal1;
+        *px++ = sumImag1;
+        *pxB++ = sumReal1B;
+        *pxB++ = sumImag1B;
+
+        /* Update the pointer pIn2 to point to the  starting address of the next column */
+        j++;
+        pIn2 = pSrcB->pData + 2U * j;
+
+        /* Decrement the column loop counter */
+        col--;
+      } 
+
+      /* Update the pointer pInA to point to the  starting address of the next 2 row */
+      i = i + 2*numColsB;
+      pInA = pInA + 4 * numColsA;
+
+      /* Decrement the row loop counter */
+      rowCnt--;
+    }
+
+    rowCnt = row & 1;
+    while (rowCnt > 0U)
+    {
+      /* Output pointer is set to starting address of the row being processed */
+      px = pOut + 2 * 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 */
+      while (col > 0U)
+      {
+        /* Set the variable sum, that acts as accumulator, to zero */
+        sumReal1 = 0.0f;
+        sumImag1 = 0.0f;
+
+        sumReal2 = 0.0f;
+        sumImag2 = 0.0f;
+
+        /* Initiate the pointer pIn1 to point to the starting address of the column being processed */
+        pIn1 = pInA;
+
+        accR0 = vdupq_n_f32(0.0);
+        accI0 = vdupq_n_f32(0.0);
+
+        /* Compute 4 MACs simultaneously. */
+        colCnt = numColsA >> 2;
+
+        /* Matrix multiplication */
+        while (colCnt > 0U)
+        {
+          /* Reading real part of complex matrix A */
+          a0V = vld2q_f32(pIn1);  // load & separate real/imag pSrcA (de-interleave 2)
+          pIn1 += 8;
+
+          tempR = vsetq_lane_f32(*pIn2,tempR,0);
+          tempI = vsetq_lane_f32(*(pIn2 + 1U),tempI,0);
+          pIn2 += 2 * numColsB;
+
+          tempR = vsetq_lane_f32(*pIn2,tempR,1);
+          tempI = vsetq_lane_f32(*(pIn2 + 1U),tempI,1);
+          pIn2 += 2 * numColsB;
+
+          tempR = vsetq_lane_f32(*pIn2,tempR,2);
+          tempI = vsetq_lane_f32(*(pIn2 + 1U),tempI,2);
+          pIn2 += 2 * numColsB;
+
+          tempR = vsetq_lane_f32(*pIn2,tempR,3);
+          tempI = vsetq_lane_f32(*(pIn2 + 1U),tempI,3);
+          pIn2 += 2 * numColsB;
+
+          accR0 = vmlaq_f32(accR0,a0V.val[0],tempR);
+          accR0 = vmlsq_f32(accR0,a0V.val[1],tempI);
+
+          accI0 = vmlaq_f32(accI0,a0V.val[1],tempR);
+          accI0 = vmlaq_f32(accI0,a0V.val[0],tempI);
+
+          /* Decrement the loop count */
+          colCnt--;
+        }
+
+        accum = vpadd_f32(vget_low_f32(accR0), vget_high_f32(accR0));
+        sumReal1 += vget_lane_f32(accum, 0) + vget_lane_f32(accum, 1);
+
+        accum = vpadd_f32(vget_low_f32(accI0), vget_high_f32(accI0));
+        sumImag1 += 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) */
+          a1 = *pIn1;
+          c1 = *pIn2;
+
+          b1 = *(pIn1 + 1U);
+          d1 = *(pIn2 + 1U);
+
+          sumReal1 += a1 * c1;
+          sumImag1 += b1 * c1;
+
+          pIn1 += 2U;
+          pIn2 += 2 * numColsB;
+
+          sumReal2 -= b1 * d1;
+          sumImag2 += a1 * d1;
+
+          /* Decrement the loop counter */
+          colCnt--;
+        }
+
+        sumReal1 += sumReal2;
+        sumImag1 += sumImag2;
+
+        /* Store the result in the destination buffer */
+        *px++ = sumReal1;
+        *px++ = sumImag1;
+
+        /* Update the pointer pIn2 to point to the  starting address of the next column */
+        j++;
+        pIn2 = pSrcB->pData + 2U * j;
+
+        /* Decrement the column loop counter */
+        col--;
+
+      } 
+
+      /* Update the pointer pInA to point to the  starting address of the next row */
+      i = i + numColsB;
+      pInA = pInA + 2 * 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_cmplx_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 */
+  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 sumReal, sumImag;                    /* Accumulator */
+  float32_t a1, b1, c1, d1;
+  uint32_t col, i = 0U, j, row = numRowsA, colCnt; /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+
+#if defined (ARM_MATH_LOOPUNROLL)
+  float32_t a0, b0, c0, d0;
+#endif
+
+#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 the row being processed */
+      px = pOut + 2 * 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 */
+        sumReal = 0.0f;
+        sumImag = 0.0f;
+
+        /* Initiate pointer pIn1 to point to starting address of column being processed */
+        pIn1 = pInA;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        colCnt = numColsA >> 2U;
+
+        /* matrix multiplication */
+        while (colCnt > 0U)
+        {
+
+          /* Reading real part of complex matrix A */
+          a0 = *pIn1;
+
+          /* Reading real part of complex matrix B */
+          c0 = *pIn2;
+
+          /* Reading imaginary part of complex matrix A */
+          b0 = *(pIn1 + 1U);
+
+          /* Reading imaginary part of complex matrix B */
+          d0 = *(pIn2 + 1U);
+
+          /* Multiply and Accumlates */
+          sumReal += a0 * c0;
+          sumImag += b0 * c0;
+
+          /* update pointers */
+          pIn1 += 2U;
+          pIn2 += 2 * numColsB;
+
+          /* Multiply and Accumlates */
+          sumReal -= b0 * d0;
+          sumImag += a0 * d0;
+
+          /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+          /* read real and imag values from pSrcA and pSrcB buffer */
+          a1 = *(pIn1     );
+          c1 = *(pIn2     );
+          b1 = *(pIn1 + 1U);
+          d1 = *(pIn2 + 1U);
+
+          /* Multiply and Accumlates */
+          sumReal += a1 * c1;
+          sumImag += b1 * c1;
+
+          /* update pointers */
+          pIn1 += 2U;
+          pIn2 += 2 * numColsB;
+
+          /* Multiply and Accumlates */
+          sumReal -= b1 * d1;
+          sumImag += a1 * d1;
+
+          a0 = *(pIn1     );
+          c0 = *(pIn2     );
+          b0 = *(pIn1 + 1U);
+          d0 = *(pIn2 + 1U);
+
+          /* Multiply and Accumlates */
+          sumReal += a0 * c0;
+          sumImag += b0 * c0;
+
+          /* update pointers */
+          pIn1 += 2U;
+          pIn2 += 2 * numColsB;
+
+          /* Multiply and Accumlates */
+          sumReal -= b0 * d0;
+          sumImag += a0 * d0;
+
+          /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+          a1 = *(pIn1     );
+          c1 = *(pIn2     );
+          b1 = *(pIn1 + 1U);
+          d1 = *(pIn2 + 1U);
+
+          /* Multiply and Accumlates */
+          sumReal += a1 * c1;
+          sumImag += b1 * c1;
+
+          /* update pointers */
+          pIn1 += 2U;
+          pIn2 += 2 * numColsB;
+
+          /* Multiply and Accumlates */
+          sumReal -= b1 * d1;
+          sumImag += a1 * d1;
+
+          /* Decrement loop count */
+          colCnt--;
+        }
+
+        /* If the columns of pSrcA is not a multiple of 4, compute any remaining MACs here.
+         ** No loop unrolling is used. */
+        colCnt = numColsA % 0x4U;
+
+#else
+
+        /* Initialize blkCnt with number of samples */
+        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) */
+          a1 = *(pIn1     );
+          c1 = *(pIn2     );
+          b1 = *(pIn1 + 1U);
+          d1 = *(pIn2 + 1U);
+
+          /* Multiply and Accumlates */
+          sumReal += a1 * c1;
+          sumImag += b1 * c1;
+
+          /* update pointers */
+          pIn1 += 2U;
+          pIn2 += 2 * numColsB;
+
+          /* Multiply and Accumlates */
+          sumReal -= b1 * d1;
+          sumImag += a1 * d1;
+
+          /* Decrement loop counter */
+          colCnt--;
+        }
+
+        /* Store result in destination buffer */
+        *px++ = sumReal;
+        *px++ = sumImag;
+
+        /* Update pointer pIn2 to point to starting address of next column */
+        j++;
+        pIn2 = pSrcB->pData + 2U * j;
+
+        /* Decrement column loop counter */
+        col--;
+
+      } while (col > 0U);
+
+      /* Update pointer pInA to point to starting address of next row */
+      i = i + numColsB;
+      pInA = pInA + 2 * 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
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_q15.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_q15.c
new file mode 100644
index 0000000..5b9db9f
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_q15.c
@@ -0,0 +1,595 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_cmplx_mat_mult_q15.c
+ * Description:  Q15 complex 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"
+
+/**
+  @ingroup groupMatrix
+ */
+
+/**
+  @addtogroup CmplxMatrixMult
+  @{
+ */
+
+/**
+  @brief         Q15 Complex matrix multiplication.
+  @param[in]     pSrcA      points to first input complex matrix structure
+  @param[in]     pSrcB      points to second input complex matrix structure
+  @param[out]    pDst       points to output complex matrix structure
+  @param[in]     pScratch   points to an array for storing intermediate results
+  @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+  @par           Conditions for optimum performance
+                   Input, output and state buffers should be aligned by 32-bit
+
+  @par           Scaling and Overflow Behavior
+                   The function is implemented using an internal 64-bit accumulator. The inputs to the
+                   multiplications are in 1.15 format and multiplications yield a 2.30 result.
+                   The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.
+                   This approach provides 33 guard bits and there is no risk of overflow. The 34.30 result is then
+                   truncated to 34.15 format by discarding the low 15 bits and then saturated to 1.15 format.
+ */
+#if defined(ARM_MATH_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#define MVE_ASRL_SAT16(acc, shift)          ((sqrshrl_sat48(acc, -(32-shift)) >> 32) & 0xffffffff)
+
+arm_status arm_mat_cmplx_mult_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+        arm_matrix_instance_q15 * pDst,
+        q15_t                   * pScratch)
+{
+    q15_t const *pInA = (q15_t const *) pSrcA->pData;   /* input data matrix pointer A of Q15 type */
+    q15_t const *pInB = (q15_t const *) pSrcB->pData;   /* input data matrix pointer B of Q15 type */
+    q15_t const *pInB2;
+    q15_t       *px;               /* Temporary output data matrix pointer */
+    uint32_t     numRowsA = pSrcA->numRows;    /* number of rows of input matrix A    */
+    uint32_t     numColsB = pSrcB->numCols;    /* number of columns of input matrix B */
+    uint32_t     numColsA = pSrcA->numCols;    /* number of columns of input matrix A */
+    uint32_t     numRowsB = pSrcB->numRows;    /* number of rows of input matrix A    */
+    uint32_t     col, i = 0u, j, row = numRowsB;   /* loop counters */
+    uint32_t  blkCnt;           /* loop counters */
+    uint16x8_t vecOffs, vecColBOffs;
+    arm_status status;                             /* Status of matrix multiplication */
+    (void)pScratch;
+
+#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 */
+
+  {
+    vecColBOffs[0] = 0;
+    vecColBOffs[1] = 1;
+    vecColBOffs[2] = numColsB * CMPLX_DIM;
+    vecColBOffs[3] = (numColsB * CMPLX_DIM) + 1;
+    vecColBOffs[4] = 2 * numColsB * CMPLX_DIM;
+    vecColBOffs[5] = 2 * (numColsB * CMPLX_DIM) + 1;
+    vecColBOffs[6] = 3 * numColsB * CMPLX_DIM;
+    vecColBOffs[7] = 3 * (numColsB * CMPLX_DIM) + 1;
+
+    /*
+     * Reset the variables for the usage in the following multiplication process
+     */
+    i = 0;
+    row = numRowsA;
+    px = pDst->pData;
+
+    /*
+     * The following loop performs the dot-product of each row in pSrcA with each column in pSrcB
+     */
+
+    /*
+     * row loop
+     */
+    while (row > 0u)
+    {
+        /*
+         * For every row wise process, the column loop counter is to be initiated
+         */
+        col = numColsB >> 1;
+        j = 0;
+        /*
+         * column loop
+         */
+        while (col > 0u)
+        {
+            q15_t const *pSrcAVec;
+            //, *pSrcBVec, *pSrcB2Vec;
+            q15x8_t vecA, vecB, vecB2;
+            q63_t     acc0, acc1, acc2, acc3;
+
+            /*
+             * Initiate the pointer pIn1 to point to the starting address of the column being processed
+             */
+            pInA = pSrcA->pData + i;
+            pInB = pSrcB->pData + j;
+            pInB2 = pInB + CMPLX_DIM;
+
+            j += 2 * CMPLX_DIM;
+            /*
+             * Decrement the column loop counter
+             */
+            col--;
+
+            /*
+             * Initiate the pointers
+             * - current Matrix A rows
+             * - 2 x consecutive Matrix B' rows (j increment is 2 x numRowsB)
+             */
+            pSrcAVec = (q15_t const *) pInA;
+
+            acc0 = 0LL;
+            acc1 = 0LL;
+            acc2 = 0LL;
+            acc3 = 0LL;
+
+            vecOffs = vecColBOffs;
+          
+
+            blkCnt = (numColsA * CMPLX_DIM) >> 3;
+            while (blkCnt > 0U)
+            {
+                vecA = vld1q(pSrcAVec); 
+                pSrcAVec += 8;
+                vecB = vldrhq_gather_shifted_offset(pInB, vecOffs);
+
+                acc0 = vmlsldavaq_s16(acc0, vecA, vecB);
+                acc1 = vmlaldavaxq_s16(acc1, vecA, vecB);
+                vecB2 = vldrhq_gather_shifted_offset(pInB2, vecOffs);
+                /*
+                 * move Matrix B read offsets, 4 rows down
+                 */
+                vecOffs = vaddq_n_u16(vecOffs, (uint16_t) (numColsB * 4 * CMPLX_DIM));
+
+                acc2 = vmlsldavaq_s16(acc2, vecA, vecB2);
+                acc3 = vmlaldavaxq_s16(acc3, vecA, vecB2);
+
+                blkCnt--;
+            }
+
+            /*
+             * tail
+             */
+            blkCnt = (numColsA * CMPLX_DIM) & 7;
+            if (blkCnt > 0U)
+            {
+                mve_pred16_t p0 = vctp16q(blkCnt);
+                vecB = vldrhq_gather_shifted_offset(pInB, vecOffs);
+
+                vecA = vldrhq_z_s16(pSrcAVec, p0);
+
+                acc0 = vmlsldavaq_s16(acc0, vecA, vecB);
+                acc1 = vmlaldavaxq_s16(acc1, vecA, vecB);
+                vecB2 = vldrhq_gather_shifted_offset(pInB2, vecOffs);
+
+                /*
+                 * move Matrix B read offsets, 4 rows down
+                 */
+                vecOffs = vaddq_n_u16(vecOffs, (uint16_t) (numColsB * 4 * CMPLX_DIM));
+
+                acc2 = vmlsldavaq_s16(acc2, vecA, vecB2);
+                acc3 = vmlaldavaxq_s16(acc3, vecA, vecB2);
+
+            }
+            /*
+             * Convert to 1.15, Store the results (1 x 2 block) in the destination buffer
+             */
+            *px++ = (q15_t)MVE_ASRL_SAT16(acc0, 15);
+            *px++ = (q15_t)MVE_ASRL_SAT16(acc1, 15);
+            *px++ = (q15_t)MVE_ASRL_SAT16(acc2, 15);
+            *px++ = (q15_t)MVE_ASRL_SAT16(acc3, 15);
+        }
+
+        col = numColsB & 1;
+        /*
+         * column loop
+         */
+        while (col > 0u)
+        {
+
+            q15_t const *pSrcAVec;
+            //, *pSrcBVec, *pSrcB2Vec;
+            q15x8_t vecA, vecB;
+            q63_t     acc0, acc1;
+
+            /*
+             * Initiate the pointer pIn1 to point to the starting address of the column being processed
+             */
+            pInA = pSrcA->pData + i;
+            pInB = pSrcB->pData + j;
+
+            j += CMPLX_DIM;
+            /*
+             * Decrement the column loop counter
+             */
+            col--;
+
+            /*
+             * Initiate the pointers
+             * - current Matrix A rows
+             * - 2 x consecutive Matrix B' rows (j increment is 2 x numRowsB)
+             */
+            pSrcAVec = (q15_t const *) pInA;
+
+            acc0 = 0LL;
+            acc1 = 0LL;
+           
+
+            vecOffs = vecColBOffs;
+           
+            
+
+            blkCnt = (numColsA * CMPLX_DIM) >> 3;
+            while (blkCnt > 0U)
+            {
+                vecA = vld1q(pSrcAVec); 
+                pSrcAVec += 8;
+                vecB = vldrhq_gather_shifted_offset(pInB, vecOffs);
+
+                acc0 = vmlsldavaq_s16(acc0, vecA, vecB);
+                acc1 = vmlaldavaxq_s16(acc1, vecA, vecB);
+                /*
+                 * move Matrix B read offsets, 4 rows down
+                 */
+                vecOffs = vaddq_n_u16(vecOffs, (uint16_t) (numColsB * 4 * CMPLX_DIM));
+
+                blkCnt--;
+            }
+
+            /*
+             * tail
+             */
+            blkCnt = (numColsA * CMPLX_DIM) & 7;
+            if (blkCnt > 0U)
+            {
+                mve_pred16_t p0 = vctp16q(blkCnt);
+                vecB = vldrhq_gather_shifted_offset(pInB, vecOffs);
+                vecA = vldrhq_z_s16(pSrcAVec, p0);
+
+                acc0 = vmlsldavaq_s16(acc0, vecA, vecB);
+                acc1 = vmlaldavaxq_s16(acc1, vecA, vecB);
+               
+            }
+            /*
+             * Convert to 1.15, Store the results (1 x 2 block) in the destination buffer
+             */
+            *px++ = (q15_t)MVE_ASRL_SAT16(acc0, 15);
+            *px++ = (q15_t)MVE_ASRL_SAT16(acc1, 15);
+           
+        }
+
+        i = i + numColsA * CMPLX_DIM;
+        
+        /*
+         * Decrement the row loop counter
+         */
+        row--;
+    }
+
+
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+#else
+arm_status arm_mat_cmplx_mult_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+        arm_matrix_instance_q15 * pDst,
+        q15_t                   * pScratch)
+{
+        q15_t *pSrcBT = pScratch;                      /* input data matrix pointer for transpose */
+        q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A of Q15 type */
+        q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B of Q15 type */
+        q15_t *px;                                     /* Temporary output data matrix pointer */
+        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 numRowsB = pSrcB->numRows;            /* number of rows of input matrix A */
+        q63_t sumReal, sumImag;                        /* accumulator */
+        uint32_t col, i = 0U, row = numRowsB, colCnt;  /* Loop counters */
+        arm_status status;                             /* Status of matrix multiplication */
+
+#if defined (ARM_MATH_DSP)
+        q31_t prod1, prod2;
+        q31_t pSourceA, pSourceB;
+#else
+        q15_t a, b, c, d;
+#endif /* #if defined (ARM_MATH_DSP) */
+
+#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 */
+
+  {
+    /* Matrix transpose */
+    do
+    {
+      /* The pointer px is set to starting address of column being processed */
+      px = pSrcBT + i;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+      /* Apply loop unrolling and exchange the columns with row elements */
+      col = numColsB >> 2;
+
+      /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.
+         a second loop below computes the remaining 1 to 3 samples. */
+      while (col > 0U)
+      {
+        /* Read two elements from row */
+        write_q15x2 (px, read_q15x2_ia (&pInB));
+
+        /* Update pointer px to point to next row of transposed matrix */
+        px += numRowsB * 2;
+
+        /* Read two elements from row */
+        write_q15x2 (px, read_q15x2_ia (&pInB));
+
+        /* Update pointer px to point to next row of transposed matrix */
+        px += numRowsB * 2;
+
+        /* Read two elements from row */
+        write_q15x2 (px, read_q15x2_ia (&pInB));
+
+        /* Update pointer px to point to next row of transposed matrix */
+        px += numRowsB * 2;
+
+        /* Read two elements from row */
+        write_q15x2 (px, read_q15x2_ia (&pInB));
+
+        /* Update pointer px to point to next row of transposed matrix */
+        px += numRowsB * 2;
+
+        /* Decrement column loop counter */
+        col--;
+      }
+
+      /* If the columns of pSrcB is not a multiple of 4, compute any remaining output samples here.
+       ** No loop unrolling is used. */
+      col = numColsB % 0x4U;
+
+#else
+
+        /* Initialize blkCnt with number of samples */
+        col = numColsB;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+      while (col > 0U)
+      {
+        /* Read two elements from row */
+        write_q15x2 (px, read_q15x2_ia (&pInB));
+
+        /* Update pointer px to point to next row of transposed matrix */
+        px += numRowsB * 2;
+
+        /* Decrement column loop counter */
+        col--;
+      }
+
+      i = i + 2U;
+
+      /* Decrement row loop counter */
+      row--;
+
+    } while (row > 0U);
+
+    /* Reset variables for usage in following multiplication process */
+    row = numRowsA;
+    i = 0U;
+    px = pDst->pData;
+
+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+    /* row loop */
+    do
+    {
+      /* 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 transposed pSrcB data */
+      pInB = pSrcBT;
+
+      /* column loop */
+      do
+      {
+        /* Set variable sum, that acts as accumulator, to zero */
+        sumReal = 0;
+        sumImag = 0;
+
+        /* Initiate pointer pInA to point to starting address of column being processed */
+        pInA = pSrcA->pData + i * 2;
+
+        /* Apply loop unrolling and compute 2 MACs simultaneously. */
+        colCnt = numColsA >> 1U;
+
+        /* 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) */
+
+#if defined (ARM_MATH_DSP)
+
+          /* read real and imag values from pSrcA and pSrcB buffer */
+          pSourceA = read_q15x2_ia (&pInA);
+          pSourceB = read_q15x2_ia (&pInB);
+
+          /* Multiply and Accumlates */
+#ifdef ARM_MATH_BIG_ENDIAN
+          prod1 = -__SMUSD(pSourceA, pSourceB);
+#else
+          prod1 = __SMUSD(pSourceA, pSourceB);
+#endif
+          prod2 = __SMUADX(pSourceA, pSourceB);
+          sumReal += (q63_t) prod1;
+          sumImag += (q63_t) prod2;
+
+          /* read real and imag values from pSrcA and pSrcB buffer */
+          pSourceA = read_q15x2_ia (&pInA);
+          pSourceB = read_q15x2_ia (&pInB);
+
+          /* Multiply and Accumlates */
+#ifdef ARM_MATH_BIG_ENDIAN
+          prod1 = -__SMUSD(pSourceA, pSourceB);
+#else
+          prod1 = __SMUSD(pSourceA, pSourceB);
+#endif
+          prod2 = __SMUADX(pSourceA, pSourceB);
+          sumReal += (q63_t) prod1;
+          sumImag += (q63_t) prod2;
+
+#else /* #if defined (ARM_MATH_DSP) */
+
+          /* read real and imag values from pSrcA buffer */
+          a = *pInA;
+          b = *(pInA + 1U);
+          /* read real and imag values from pSrcB buffer */
+          c = *pInB;
+          d = *(pInB + 1U);
+
+          /* Multiply and Accumlates */
+          sumReal += (q31_t) a *c;
+          sumImag += (q31_t) a *d;
+          sumReal -= (q31_t) b *d;
+          sumImag += (q31_t) b *c;
+
+          /* read next real and imag values from pSrcA buffer */
+          a = *(pInA + 2U);
+          b = *(pInA + 3U);
+          /* read next real and imag values from pSrcB buffer */
+          c = *(pInB + 2U);
+          d = *(pInB + 3U);
+
+          /* update pointer */
+          pInA += 4U;
+
+          /* Multiply and Accumlates */
+          sumReal += (q31_t) a * c;
+          sumImag += (q31_t) a * d;
+          sumReal -= (q31_t) b * d;
+          sumImag += (q31_t) b * c;
+          /* update pointer */
+          pInB += 4U;
+
+#endif /* #if defined (ARM_MATH_DSP) */
+
+          /* Decrement loop counter */
+          colCnt--;
+        }
+
+        /* process odd column samples */
+        if ((numColsA & 0x1U) > 0U)
+        {
+          /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+#if defined (ARM_MATH_DSP)
+          /* read real and imag values from pSrcA and pSrcB buffer */
+          pSourceA = read_q15x2_ia (&pInA);
+          pSourceB = read_q15x2_ia (&pInB);
+
+          /* Multiply and Accumlates */
+#ifdef ARM_MATH_BIG_ENDIAN
+          prod1 = -__SMUSD(pSourceA, pSourceB);
+#else
+          prod1 = __SMUSD(pSourceA, pSourceB);
+#endif
+          prod2 = __SMUADX(pSourceA, pSourceB);
+          sumReal += (q63_t) prod1;
+          sumImag += (q63_t) prod2;
+
+#else /* #if defined (ARM_MATH_DSP) */
+
+          /* read real and imag values from pSrcA and pSrcB buffer */
+          a = *pInA++;
+          b = *pInA++;
+          c = *pInB++;
+          d = *pInB++;
+
+          /* Multiply and Accumlates */
+          sumReal += (q31_t) a * c;
+          sumImag += (q31_t) a * d;
+          sumReal -= (q31_t) b * d;
+          sumImag += (q31_t) b * c;
+
+#endif /* #if defined (ARM_MATH_DSP) */
+
+        }
+
+        /* Saturate and store result in destination buffer */
+        *px++ = (q15_t) (__SSAT(sumReal >> 15, 16));
+        *px++ = (q15_t) (__SSAT(sumImag >> 15, 16));
+
+        /* Decrement column loop counter */
+        col--;
+
+      } while (col > 0U);
+
+      i = i + 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 /* defined(ARM_MATH_MVEI) */
+
+/**
+  @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_q31.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_q31.c
new file mode 100644
index 0000000..ee784a6
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_mult_q31.c
@@ -0,0 +1,1061 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_cmplx_mult_q31.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"
+
+/**
+  @ingroup groupMatrix
+ */
+
+/**
+  @addtogroup CmplxMatrixMult
+  @{
+ */
+
+/**
+  @brief         Q31 Complex matrix multiplication.
+  @param[in]     pSrcA      points to first input complex matrix structure
+  @param[in]     pSrcB      points to second input complex matrix structure
+  @param[out]    pDst       points to output complex matrix structure
+  @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+  @par           Scaling and Overflow Behavior
+                   The function is implemented using an internal 64-bit accumulator.
+                   The accumulator has a 2.62 format and maintains full precision of the intermediate
+                   multiplication results but provides only a single guard bit. There is no saturation
+                   on intermediate additions. Thus, if the accumulator overflows it wraps around and
+                   distorts the result. The input signals should be scaled down to avoid intermediate
+                   overflows. The input is thus scaled down by log2(numColsA) bits
+                   to avoid overflows, as a total of numColsA additions are performed internally.
+                   The 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.
+ */
+#if defined(ARM_MATH_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+#define MATRIX_DIM2 2
+#define MATRIX_DIM3 3
+#define MATRIX_DIM4 4
+
+__STATIC_INLINE arm_status arm_mat_cmplx_mult_q31_2x2_mve(
+    const arm_matrix_instance_q31 * pSrcA,
+    const arm_matrix_instance_q31 * pSrcB,
+    arm_matrix_instance_q31 * pDst)
+{
+    q31_t const     *pInB = pSrcB->pData;   /* input data matrix pointer B */
+    q31_t const     *pInA = pSrcA->pData;   /* input data matrix pointer A */
+    q31_t           *pOut = pDst->pData;   /* output data matrix pointer */
+    uint32x4_t     vecColBOffs0;
+    q31_t const     *pInA0 = pInA;
+    q31_t const     *pInA1 = pInA0 + CMPLX_DIM * MATRIX_DIM2;
+    q63_t            acc0, acc1, acc2, acc3;
+    q31x4_t          vecB, vecA;
+
+    static const uint32_t offsetB0[4] = {
+        0, 1,
+        MATRIX_DIM2 * CMPLX_DIM, MATRIX_DIM2 * CMPLX_DIM + 1
+    };
+
+    vecColBOffs0 = vldrwq_u32(offsetB0);
+
+    pInB = (q31_t const *) pSrcB->pData;
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs0);
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vmlsldavq_s32(vecA, vecB);
+    acc1 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(pInA1);
+    acc2 = vmlsldavq_s32(vecA, vecB);
+    acc3 = vmlaldavxq_s32(vecA, vecB);
+
+    pOut[0 * CMPLX_DIM * MATRIX_DIM2 + 0] = (q31_t) asrl(acc0, 31);
+    pOut[0 * CMPLX_DIM * MATRIX_DIM2 + 1] = (q31_t) asrl(acc1, 31);
+    pOut[1 * CMPLX_DIM * MATRIX_DIM2 + 0] = (q31_t) asrl(acc2, 31);
+    pOut[1 * CMPLX_DIM * MATRIX_DIM2 + 1] = (q31_t) asrl(acc3, 31);
+    /*
+     * move to next B column
+     */
+    pInB = pInB + CMPLX_DIM;
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs0);
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vmlsldavq_s32(vecA, vecB);
+    acc1 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(pInA1);
+    acc2 = vmlsldavq_s32(vecA, vecB);
+    acc3 = vmlaldavxq_s32(vecA, vecB);
+
+    pOut += CMPLX_DIM;
+
+    pOut[0 * CMPLX_DIM * MATRIX_DIM2 + 0] = (q31_t) asrl(acc0, 31);
+    pOut[0 * CMPLX_DIM * MATRIX_DIM2 + 1] = (q31_t) asrl(acc1, 31);
+    pOut[1 * CMPLX_DIM * MATRIX_DIM2 + 0] = (q31_t) asrl(acc2, 31);
+    pOut[1 * CMPLX_DIM * MATRIX_DIM2 + 1] = (q31_t) asrl(acc3, 31);
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+}
+
+__STATIC_INLINE arm_status arm_mat_cmplx_mult_q31_3x3_mve(
+    const arm_matrix_instance_q31 * pSrcA,
+    const arm_matrix_instance_q31 * pSrcB,
+    arm_matrix_instance_q31 * pDst)
+{
+    q31_t const     *pInB = pSrcB->pData;   /* input data matrix pointer B */
+    q31_t const     *pInA = pSrcA->pData;   /* input data matrix pointer A */
+    q31_t           *pOut = pDst->pData;   /* output data matrix pointer */
+    uint32x4_t     vecColBOffs0, vecColBOffs1;
+    q31_t const     *pInA0 = pInA;
+    q31_t const     *pInA1 = pInA0 + CMPLX_DIM * MATRIX_DIM3;
+    q31_t const     *pInA2 = pInA1 + CMPLX_DIM * MATRIX_DIM3;
+    q63_t            acc0, acc1, acc2, acc3;
+    q31x4_t          vecB, vecB1, vecA;
+    /*
+     * enable predication to disable upper half complex vector element
+     */
+    mve_pred16_t p0 = vctp32q(CMPLX_DIM);
+
+    static const uint32_t offsetB0[4] = {
+        0, 1,
+        MATRIX_DIM3 * CMPLX_DIM, MATRIX_DIM3 * CMPLX_DIM + 1
+    };
+    static const uint32_t offsetB1[4] = {
+        2 * MATRIX_DIM3 * CMPLX_DIM, 2 * MATRIX_DIM3 * CMPLX_DIM + 1,
+        INACTIVELANE, INACTIVELANE
+    };
+
+    vecColBOffs0 = vldrwq_u32(offsetB0);
+    vecColBOffs1 = vldrwq_u32(offsetB1);
+
+    pInB = (q31_t const *) pSrcB->pData;
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs0);
+    vecB1 = vldrwq_gather_shifted_offset(pInB, vecColBOffs1);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vmlsldavq_s32(vecA, vecB);
+    acc1 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(pInA1);
+    acc2 = vmlsldavq_s32(vecA, vecB);
+    acc3 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_z_s32(&pInA0[4], p0);
+    acc0 = vmlsldavaq_s32(acc0, vecA, vecB1);
+    acc1 = vmlaldavaxq_s32(acc1, vecA, vecB1);
+
+    vecA = vldrwq_z_s32(&pInA1[4], p0);
+    acc2 = vmlsldavaq_s32(acc2, vecA, vecB1);
+    acc3 = vmlaldavaxq_s32(acc3, vecA, vecB1);
+
+    pOut[0 * CMPLX_DIM * MATRIX_DIM3 + 0] = (q31_t) asrl(acc0, 31);
+    pOut[0 * CMPLX_DIM * MATRIX_DIM3 + 1] = (q31_t) asrl(acc1, 31);
+    pOut[1 * CMPLX_DIM * MATRIX_DIM3 + 0] = (q31_t) asrl(acc2, 31);
+    pOut[1 * CMPLX_DIM * MATRIX_DIM3 + 1] = (q31_t) asrl(acc3, 31);
+
+    vecA = vldrwq_s32(pInA2);
+    acc0 = vmlsldavq_s32(vecA, vecB);
+    acc1 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_z_s32(&pInA2[4], p0);
+    acc0 = vmlsldavaq_s32(acc0, vecA, vecB1);
+    acc1 = vmlaldavaxq_s32(acc1, vecA, vecB1);
+
+    pOut[2 * CMPLX_DIM * MATRIX_DIM3 + 0] = (q31_t) asrl(acc0, 31);
+    pOut[2 * CMPLX_DIM * MATRIX_DIM3 + 1] = (q31_t) asrl(acc1, 31);
+    pOut += CMPLX_DIM;
+
+    /*
+     * move to next B column
+     */
+    pInB = pInB + CMPLX_DIM;
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs0);
+    vecB1 = vldrwq_gather_shifted_offset(pInB, vecColBOffs1);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vmlsldavq_s32(vecA, vecB);
+    acc1 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(pInA1);
+    acc2 = vmlsldavq_s32(vecA, vecB);
+    acc3 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_z_s32(&pInA0[4], p0);
+    acc0 = vmlsldavaq_s32(acc0, vecA, vecB1);
+    acc1 = vmlaldavaxq_s32(acc1, vecA, vecB1);
+
+    vecA = vldrwq_z_s32(&pInA1[4], p0);
+    acc2 = vmlsldavaq_s32(acc2, vecA, vecB1);
+    acc3 = vmlaldavaxq_s32(acc3, vecA, vecB1);
+
+    pOut[0 * CMPLX_DIM * MATRIX_DIM3 + 0] = (q31_t) asrl(acc0, 31);
+    pOut[0 * CMPLX_DIM * MATRIX_DIM3 + 1] = (q31_t) asrl(acc1, 31);
+    pOut[1 * CMPLX_DIM * MATRIX_DIM3 + 0] = (q31_t) asrl(acc2, 31);
+    pOut[1 * CMPLX_DIM * MATRIX_DIM3 + 1] = (q31_t) asrl(acc3, 31);
+
+    vecA = vldrwq_s32(pInA2);
+    acc0 = vmlsldavq_s32(vecA, vecB);
+    acc1 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_z_s32(&pInA2[4], p0);
+    acc0 = vmlsldavaq_s32(acc0, vecA, vecB1);
+    acc1 = vmlaldavaxq_s32(acc1, vecA, vecB1);
+
+    pOut[2 * CMPLX_DIM * MATRIX_DIM3 + 0] = (q31_t) asrl(acc0, 31);
+    pOut[2 * CMPLX_DIM * MATRIX_DIM3 + 1] = (q31_t) asrl(acc1, 31);
+    pOut += CMPLX_DIM;
+
+    /*
+     * move to next B column
+     */
+    pInB = pInB + CMPLX_DIM;
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs0);
+    vecB1 = vldrwq_gather_shifted_offset(pInB, vecColBOffs1);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vmlsldavq_s32(vecA, vecB);
+    acc1 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(pInA1);
+    acc2 = vmlsldavq_s32(vecA, vecB);
+    acc3 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_z_s32(&pInA0[4], p0);
+    acc0 = vmlsldavaq_s32(acc0, vecA, vecB1);
+    acc1 = vmlaldavaxq_s32(acc1, vecA, vecB1);
+
+    vecA = vldrwq_z_s32(&pInA1[4], p0);
+    acc2 = vmlsldavaq_s32(acc2, vecA, vecB1);
+    acc3 = vmlaldavaxq_s32(acc3, vecA, vecB1);
+
+    pOut[0 * CMPLX_DIM * MATRIX_DIM3 + 0] = (q31_t) asrl(acc0, 31);
+    pOut[0 * CMPLX_DIM * MATRIX_DIM3 + 1] = (q31_t) asrl(acc1, 31);
+    pOut[1 * CMPLX_DIM * MATRIX_DIM3 + 0] = (q31_t) asrl(acc2, 31);
+    pOut[1 * CMPLX_DIM * MATRIX_DIM3 + 1] = (q31_t) asrl(acc3, 31);
+
+    vecA = vldrwq_s32(pInA2);
+    acc0 = vmlsldavq_s32(vecA, vecB);
+    acc1 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_z_s32(&pInA2[4], p0);
+    acc0 = vmlsldavaq_s32(acc0, vecA, vecB1);
+    acc1 = vmlaldavaxq_s32(acc1, vecA, vecB1);
+
+    pOut[2 * CMPLX_DIM * MATRIX_DIM3 + 0] = (q31_t) asrl(acc0, 31);
+    pOut[2 * CMPLX_DIM * MATRIX_DIM3 + 1] = (q31_t) asrl(acc1, 31);
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+}
+
+__STATIC_INLINE arm_status arm_mat_cmplx_mult_q31_4x4_mve(
+    const arm_matrix_instance_q31 * pSrcA,
+    const arm_matrix_instance_q31 * pSrcB,
+    arm_matrix_instance_q31 * pDst)
+{
+    q31_t const     *pInB = pSrcB->pData;   /* input data matrix pointer B */
+    q31_t const     *pInA = pSrcA->pData;   /* input data matrix pointer A */
+    q31_t           *pOut = pDst->pData;   /* output data matrix pointer */
+    uint32x4_t    vecColBOffs0, vecColBOffs1;
+    q31_t const     *pInA0 = pInA;
+    q31_t const     *pInA1 = pInA0 + CMPLX_DIM * MATRIX_DIM4;
+    q31_t const     *pInA2 = pInA1 + CMPLX_DIM * MATRIX_DIM4;
+    q31_t const     *pInA3 = pInA2 + CMPLX_DIM * MATRIX_DIM4;
+    q63_t            acc0, acc1, acc2, acc3;
+    q31x4_t        vecB, vecB1, vecA;
+
+    static const uint32_t offsetB0[4] = {
+        0, 1,
+        MATRIX_DIM4 * CMPLX_DIM, MATRIX_DIM4 * CMPLX_DIM + 1
+    };
+    static const uint32_t offsetB1[4] = {
+        2 * MATRIX_DIM4 * CMPLX_DIM, 2 * MATRIX_DIM4 * CMPLX_DIM + 1,
+        3 * MATRIX_DIM4 * CMPLX_DIM, 3 * MATRIX_DIM4 * CMPLX_DIM + 1
+    };
+
+    vecColBOffs0 = vldrwq_u32(offsetB0);
+    vecColBOffs1 = vldrwq_u32(offsetB1);
+
+    pInB = (q31_t const *) pSrcB->pData;
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs0);
+    vecB1 = vldrwq_gather_shifted_offset(pInB, vecColBOffs1);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vmlsldavq_s32(vecA, vecB);
+    acc1 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(pInA1);
+    acc2 = vmlsldavq_s32(vecA, vecB);
+    acc3 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(&pInA0[4]);
+    acc0 = vmlsldavaq_s32(acc0, vecA, vecB1);
+    acc1 = vmlaldavaxq_s32(acc1, vecA, vecB1);
+
+    vecA = vldrwq_s32(&pInA1[4]);
+    acc2 = vmlsldavaq_s32(acc2, vecA, vecB1);
+    acc3 = vmlaldavaxq_s32(acc3, vecA, vecB1);
+
+    pOut[0 * CMPLX_DIM * MATRIX_DIM4 + 0] = (q31_t) asrl(acc0, 31);
+    pOut[0 * CMPLX_DIM * MATRIX_DIM4 + 1] = (q31_t) asrl(acc1, 31);
+    pOut[1 * CMPLX_DIM * MATRIX_DIM4 + 0] = (q31_t) asrl(acc2, 31);
+    pOut[1 * CMPLX_DIM * MATRIX_DIM4 + 1] = (q31_t) asrl(acc3, 31);
+
+    vecA = vldrwq_s32(pInA2);
+    acc0 = vmlsldavq_s32(vecA, vecB);
+    acc1 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(pInA3);
+    acc2 = vmlsldavq_s32(vecA, vecB);
+    acc3 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(&pInA2[4]);
+    acc0 = vmlsldavaq_s32(acc0, vecA, vecB1);
+    acc1 = vmlaldavaxq_s32(acc1, vecA, vecB1);
+
+    vecA = vldrwq_s32(&pInA3[4]);
+    acc2 = vmlsldavaq_s32(acc2, vecA, vecB1);
+    acc3 = vmlaldavaxq_s32(acc3, vecA, vecB1);
+
+    pOut[2 * CMPLX_DIM * MATRIX_DIM4 + 0] = (q31_t) asrl(acc0, 31);
+    pOut[2 * CMPLX_DIM * MATRIX_DIM4 + 1] = (q31_t) asrl(acc1, 31);
+    pOut[3 * CMPLX_DIM * MATRIX_DIM4 + 0] = (q31_t) asrl(acc2, 31);
+    pOut[3 * CMPLX_DIM * MATRIX_DIM4 + 1] = (q31_t) asrl(acc3, 31);
+    pOut += CMPLX_DIM;
+
+    /*
+     * move to next B column
+     */
+    pInB = pInB + CMPLX_DIM;
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs0);
+    vecB1 = vldrwq_gather_shifted_offset(pInB, vecColBOffs1);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vmlsldavq_s32(vecA, vecB);
+    acc1 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(pInA1);
+    acc2 = vmlsldavq_s32(vecA, vecB);
+    acc3 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(&pInA0[4]);
+    acc0 = vmlsldavaq_s32(acc0, vecA, vecB1);
+    acc1 = vmlaldavaxq_s32(acc1, vecA, vecB1);
+
+    vecA = vldrwq_s32(&pInA1[4]);
+    acc2 = vmlsldavaq_s32(acc2, vecA, vecB1);
+    acc3 = vmlaldavaxq_s32(acc3, vecA, vecB1);
+
+    pOut[0 * CMPLX_DIM * MATRIX_DIM4 + 0] = (q31_t) asrl(acc0, 31);
+    pOut[0 * CMPLX_DIM * MATRIX_DIM4 + 1] = (q31_t) asrl(acc1, 31);
+    pOut[1 * CMPLX_DIM * MATRIX_DIM4 + 0] = (q31_t) asrl(acc2, 31);
+    pOut[1 * CMPLX_DIM * MATRIX_DIM4 + 1] = (q31_t) asrl(acc3, 31);
+
+    vecA = vldrwq_s32(pInA2);
+    acc0 = vmlsldavq_s32(vecA, vecB);
+    acc1 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(pInA3);
+    acc2 = vmlsldavq_s32(vecA, vecB);
+    acc3 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(&pInA2[4]);
+    acc0 = vmlsldavaq_s32(acc0, vecA, vecB1);
+    acc1 = vmlaldavaxq_s32(acc1, vecA, vecB1);
+
+    vecA = vldrwq_s32(&pInA3[4]);
+    acc2 = vmlsldavaq_s32(acc2, vecA, vecB1);
+    acc3 = vmlaldavaxq_s32(acc3, vecA, vecB1);
+
+    pOut[2 * CMPLX_DIM * MATRIX_DIM4 + 0] = (q31_t) asrl(acc0, 31);
+    pOut[2 * CMPLX_DIM * MATRIX_DIM4 + 1] = (q31_t) asrl(acc1, 31);
+    pOut[3 * CMPLX_DIM * MATRIX_DIM4 + 0] = (q31_t) asrl(acc2, 31);
+    pOut[3 * CMPLX_DIM * MATRIX_DIM4 + 1] = (q31_t) asrl(acc3, 31);
+    pOut += CMPLX_DIM;
+    /*
+     * move to next B column
+     */
+    pInB = pInB + CMPLX_DIM;
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs0);
+    vecB1 = vldrwq_gather_shifted_offset(pInB, vecColBOffs1);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vmlsldavq_s32(vecA, vecB);
+    acc1 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(pInA1);
+    acc2 = vmlsldavq_s32(vecA, vecB);
+    acc3 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(&pInA0[4]);
+    acc0 = vmlsldavaq_s32(acc0, vecA, vecB1);
+    acc1 = vmlaldavaxq_s32(acc1, vecA, vecB1);
+
+    vecA = vldrwq_s32(&pInA1[4]);
+    acc2 = vmlsldavaq_s32(acc2, vecA, vecB1);
+    acc3 = vmlaldavaxq_s32(acc3, vecA, vecB1);
+
+    pOut[0 * CMPLX_DIM * MATRIX_DIM4 + 0] = (q31_t) asrl(acc0, 31);
+    pOut[0 * CMPLX_DIM * MATRIX_DIM4 + 1] = (q31_t) asrl(acc1, 31);
+    pOut[1 * CMPLX_DIM * MATRIX_DIM4 + 0] = (q31_t) asrl(acc2, 31);
+    pOut[1 * CMPLX_DIM * MATRIX_DIM4 + 1] = (q31_t) asrl(acc3, 31);
+
+    vecA = vldrwq_s32(pInA2);
+    acc0 = vmlsldavq_s32(vecA, vecB);
+    acc1 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(pInA3);
+    acc2 = vmlsldavq_s32(vecA, vecB);
+    acc3 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(&pInA2[4]);
+    acc0 = vmlsldavaq_s32(acc0, vecA, vecB1);
+    acc1 = vmlaldavaxq_s32(acc1, vecA, vecB1);
+
+    vecA = vldrwq_s32(&pInA3[4]);
+    acc2 = vmlsldavaq_s32(acc2, vecA, vecB1);
+    acc3 = vmlaldavaxq_s32(acc3, vecA, vecB1);
+
+    pOut[2 * CMPLX_DIM * MATRIX_DIM4 + 0] = (q31_t) asrl(acc0, 31);
+    pOut[2 * CMPLX_DIM * MATRIX_DIM4 + 1] = (q31_t) asrl(acc1, 31);
+    pOut[3 * CMPLX_DIM * MATRIX_DIM4 + 0] = (q31_t) asrl(acc2, 31);
+    pOut[3 * CMPLX_DIM * MATRIX_DIM4 + 1] = (q31_t) asrl(acc3, 31);
+    pOut += CMPLX_DIM;
+
+    /*
+     * move to next B column
+     */
+    pInB = pInB + CMPLX_DIM;
+
+    vecB = vldrwq_gather_shifted_offset(pInB, vecColBOffs0);
+    vecB1 = vldrwq_gather_shifted_offset(pInB, vecColBOffs1);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vmlsldavq_s32(vecA, vecB);
+    acc1 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(pInA1);
+    acc2 = vmlsldavq_s32(vecA, vecB);
+    acc3 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(&pInA0[4]);
+    acc0 = vmlsldavaq_s32(acc0, vecA, vecB1);
+    acc1 = vmlaldavaxq_s32(acc1, vecA, vecB1);
+
+    vecA = vldrwq_s32(&pInA1[4]);
+    acc2 = vmlsldavaq_s32(acc2, vecA, vecB1);
+    acc3 = vmlaldavaxq_s32(acc3, vecA, vecB1);
+
+    pOut[0 * CMPLX_DIM * MATRIX_DIM4 + 0] = (q31_t) asrl(acc0, 31);
+    pOut[0 * CMPLX_DIM * MATRIX_DIM4 + 1] = (q31_t) asrl(acc1, 31);
+    pOut[1 * CMPLX_DIM * MATRIX_DIM4 + 0] = (q31_t) asrl(acc2, 31);
+    pOut[1 * CMPLX_DIM * MATRIX_DIM4 + 1] = (q31_t) asrl(acc3, 31);
+
+    vecA = vldrwq_s32(pInA2);
+    acc0 = vmlsldavq_s32(vecA, vecB);
+    acc1 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(pInA3);
+    acc2 = vmlsldavq_s32(vecA, vecB);
+    acc3 = vmlaldavxq_s32(vecA, vecB);
+
+    vecA = vldrwq_s32(&pInA2[4]);
+    acc0 = vmlsldavaq_s32(acc0, vecA, vecB1);
+    acc1 = vmlaldavaxq_s32(acc1, vecA, vecB1);
+
+    vecA = vldrwq_s32(&pInA3[4]);
+    acc2 = vmlsldavaq_s32(acc2, vecA, vecB1);
+    acc3 = vmlaldavaxq_s32(acc3, vecA, vecB1);
+
+    pOut[2 * CMPLX_DIM * MATRIX_DIM4 + 0] = (q31_t) asrl(acc0, 31);
+    pOut[2 * CMPLX_DIM * MATRIX_DIM4 + 1] = (q31_t) asrl(acc1, 31);
+    pOut[3 * CMPLX_DIM * MATRIX_DIM4 + 0] = (q31_t) asrl(acc2, 31);
+    pOut[3 * CMPLX_DIM * MATRIX_DIM4 + 1] = (q31_t) asrl(acc3, 31);
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+}
+
+
+arm_status arm_mat_cmplx_mult_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+        arm_matrix_instance_q31 * pDst)
+{
+    q31_t const *pInB = (q31_t const *) pSrcB->pData;   /* input data matrix pointer B */
+    q31_t const *pInA = (q31_t const *) pSrcA->pData;   /* input data matrix pointer A */
+    q31_t *pOut = pDst->pData;  /* output data matrix pointer */
+    q31_t *px;              /* Temporary output data matrix pointer */
+    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, row = numRowsA;  /* loop counters */
+    arm_status status;          /* status of matrix multiplication */
+    uint32x4_t vecOffs, vecColBOffs;
+    uint32_t  blkCnt, rowCnt;           /* loop counters */
+
+  #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)
+        {
+          q63_t sumReal = (q63_t) pInA[0] * pInB[0];
+          sumReal -= (q63_t) pInA[1] * pInB[1];
+
+          q63_t sumImag = (q63_t) pInA[0] * pInB[1];
+          sumImag += (q63_t) pInA[1] * pInB[0];
+       
+          /* Store result in destination buffer */
+          pOut[0] = (q31_t) clip_q63_to_q31(sumReal >> 31);
+          pOut[1] = (q31_t) clip_q63_to_q31(sumImag >> 31);
+          return (ARM_MATH_SUCCESS);
+        }
+        else if (numRowsA == 2)
+            return arm_mat_cmplx_mult_q31_2x2_mve(pSrcA, pSrcB, pDst);
+        else if (numRowsA == 3)
+            return arm_mat_cmplx_mult_q31_3x3_mve(pSrcA, pSrcB, pDst);
+        else if (numRowsA == 4)
+            return arm_mat_cmplx_mult_q31_4x4_mve(pSrcA, pSrcB, pDst);
+    }
+
+    vecColBOffs[0] = 0;
+    vecColBOffs[1] = 1;
+    vecColBOffs[2] = numColsB * CMPLX_DIM;
+    vecColBOffs[3] = (numColsB * CMPLX_DIM) + 1;
+
+    /*
+     * The following loop performs the dot-product of each row in pSrcA with each column in pSrcB
+     */
+
+    /*
+     * row loop
+     */
+    rowCnt = row >> 1;
+    while (rowCnt > 0u)
+    {
+        /*
+         * Output pointer is set to starting address of the row being processed
+         */
+        px = pOut + i * CMPLX_DIM;
+        i = i + 2 * numColsB;
+        /*
+         * For every row wise process, the column loop counter is to be initiated
+         */
+        col = numColsB;
+        /*
+         * For every row wise process, the pInB pointer is set
+         * to the starting address of the pSrcB data
+         */
+        pInB = (q31_t const *) pSrcB->pData;
+        /*
+         * column loop
+         */
+        while (col > 0u)
+        {
+            /*
+             * generate 4 columns elements
+             */
+            /*
+             * Matrix A columns number of MAC operations are to be performed
+             */
+
+            q31_t const *pSrcA0Vec, *pSrcA1Vec;
+            q31_t const *pInA0 = pInA;
+            q31_t const *pInA1 = pInA0 + numColsA * CMPLX_DIM;
+            q63_t   acc0, acc1, acc2, acc3;
+
+            acc0 = 0LL;
+            acc1 = 0LL;
+            acc2 = 0LL;
+            acc3 = 0LL;
+
+            pSrcA0Vec = (q31_t const *) pInA0;
+            pSrcA1Vec = (q31_t const *) pInA1;
+            
+
+            vecOffs = vecColBOffs;
+
+            /*
+             * process 1 x 2 block output
+             */
+            blkCnt = (numColsA * CMPLX_DIM) >> 2;
+            while (blkCnt > 0U)
+            {
+                q31x4_t vecB, vecA;
+
+                vecB = vldrwq_gather_shifted_offset(pInB, vecOffs);
+                /*
+                 * move Matrix B read offsets, 2 rows down
+                 */
+                vecOffs = vecOffs + (uint32_t) (numColsB * 2 * CMPLX_DIM);
+
+
+                vecA = vld1q(pSrcA0Vec);  
+                pSrcA0Vec += 4;
+                acc0 =  vmlsldavaq(acc0, vecA, vecB);
+                acc1 =  vmlaldavaxq(acc1, vecA, vecB);
+
+                
+                vecA = vld1q(pSrcA1Vec); 
+                pSrcA1Vec += 4;
+               
+                acc2 =  vmlsldavaq(acc2, vecA, vecB);
+                acc3 =  vmlaldavaxq(acc3, vecA, vecB);
+
+
+                blkCnt--;
+            }
+            
+
+            /*
+             * tail
+             */
+            blkCnt = (numColsA * CMPLX_DIM) & 3;
+            if (blkCnt > 0U)
+            {
+                mve_pred16_t p0 = vctp32q(blkCnt);
+                q31x4_t vecB, vecA;
+
+                vecB = vldrwq_gather_shifted_offset_z(pInB, vecOffs, p0);
+
+                /*
+                 * move Matrix B read offsets, 2 rows down
+                 */
+                vecOffs = vecOffs + (uint32_t) (numColsB * 2 * CMPLX_DIM);
+               
+                
+                vecA = vld1q(pSrcA0Vec);
+                acc0 =  vmlsldavaq(acc0, vecA, vecB);
+                acc1 =  vmlaldavaxq(acc1, vecA, vecB);
+                vecA = vld1q(pSrcA1Vec);
+                acc2 =  vmlsldavaq(acc2, vecA, vecB);
+                acc3 =  vmlaldavaxq(acc3, vecA, vecB);
+                
+
+            }
+
+            px[0 * CMPLX_DIM * numColsB + 0] = (q31_t) clip_q63_to_q31(acc0 >> 31);
+            px[0 * CMPLX_DIM * numColsB + 1] = (q31_t) clip_q63_to_q31(acc1 >> 31);
+            px[1 * CMPLX_DIM * numColsB + 0] = (q31_t) clip_q63_to_q31(acc2 >> 31);
+            px[1 * CMPLX_DIM * numColsB + 1] = (q31_t) clip_q63_to_q31(acc3 >> 31);
+            px += CMPLX_DIM;
+            /*
+             * Decrement the column loop counter
+             */
+            col--;
+            /*
+             * Update the pointer pInB to point to the  starting address of the next column
+             */
+            pInB = (q31_t const *) pSrcB->pData + (numColsB - col) * CMPLX_DIM;
+        }
+
+        /*
+         * Update the pointer pInA to point to the  starting address of the next row
+         */
+        pInA += (numColsA * 2) * CMPLX_DIM;
+        /*
+         * Decrement the row loop counter
+         */
+        rowCnt --;
+
+    }
+
+    rowCnt = row & 1;
+    while (rowCnt > 0u)
+    {
+        /*
+         * Output pointer is set to starting address of the row being processed
+         */
+        px = pOut + i * CMPLX_DIM;
+        i = i + numColsB;
+        /*
+         * For every row wise process, the column loop counter is to be initiated
+         */
+        col = numColsB;
+        /*
+         * For every row wise process, the pInB pointer is set
+         * to the starting address of the pSrcB data
+         */
+        pInB = (q31_t const *) pSrcB->pData;
+        /*
+         * column loop
+         */
+        while (col > 0u)
+        {
+            /*
+             * generate 4 columns elements
+             */
+            /*
+             * Matrix A columns number of MAC operations are to be performed
+             */
+
+            q31_t const *pSrcA0Vec;
+            q31_t const *pInA0 = pInA;
+            q63_t acc0,acc1;
+
+            acc0 = 0LL;
+            acc1 = 0LL;
+
+            pSrcA0Vec = (q31_t const *) pInA0;
+           
+            vecOffs = vecColBOffs;
+
+            /*
+             * process 1 x 2 block output
+             */
+            blkCnt = (numColsA * CMPLX_DIM) >> 2;
+            while (blkCnt > 0U)
+            {
+                q31x4_t vecB, vecA;
+
+                vecB = vldrwq_gather_shifted_offset(pInB, vecOffs);
+                /*
+                 * move Matrix B read offsets, 2 rows down
+                 */
+                vecOffs = vecOffs + (uint32_t) (numColsB * 2 * CMPLX_DIM);
+               
+                vecA = vld1q(pSrcA0Vec);  
+                pSrcA0Vec += 4;
+                acc0 =  vmlsldavaq(acc0, vecA, vecB);
+                acc1 =  vmlaldavaxq(acc1, vecA, vecB);
+                
+
+                blkCnt--;
+            }
+
+
+            /*
+             * tail
+             */
+            blkCnt = (numColsA * CMPLX_DIM) & 3;
+            if (blkCnt > 0U)
+            {
+                mve_pred16_t p0 = vctp32q(blkCnt);
+                q31x4_t vecB, vecA;
+
+                vecB = vldrwq_gather_shifted_offset_z(pInB, vecOffs, p0);
+
+                /*
+                 * move Matrix B read offsets, 2 rows down
+                 */
+                vecOffs = vecOffs + (uint32_t) (numColsB * 2 * CMPLX_DIM);
+               
+                vecA = vld1q(pSrcA0Vec);
+               
+
+                acc0 =  vmlsldavaq(acc0, vecA, vecB);
+                acc1 =  vmlaldavaxq(acc1, vecA, vecB);
+
+
+            }
+
+            px[0] = (q31_t) clip_q63_to_q31(acc0 >> 31);
+            px[1] = (q31_t) clip_q63_to_q31(acc1 >> 31);
+
+           
+            px += CMPLX_DIM;
+            /*
+             * Decrement the column loop counter
+             */
+            col--;
+            /*
+             * Update the pointer pInB to point to the  starting address of the next column
+             */
+            pInB = (q31_t const *) pSrcB->pData + (numColsB - col) * CMPLX_DIM;
+        }
+
+        /*
+         * Update the pointer pInA to point to the  starting address of the next row
+         */
+        pInA += numColsA  * CMPLX_DIM;
+        rowCnt--;
+    }
+
+    
+      /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+#else
+arm_status arm_mat_cmplx_mult_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+        arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pIn1 = pSrcA->pData;                    /* Input data matrix pointer A */
+  q31_t *pIn2 = pSrcB->pData;                    /* Input data matrix pointer B */
+  q31_t *pInA = pSrcA->pData;                    /* Input data matrix pointer A */
+  q31_t *pOut = pDst->pData;                     /* Output data matrix pointer */
+  q31_t *px;                                     /* Temporary output data matrix pointer */
+  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 */
+  q63_t sumReal, sumImag;                        /* Accumulator */
+  q31_t a1, b1, c1, d1;
+  uint32_t col, i = 0U, j, row = numRowsA, colCnt; /* loop counters */
+  arm_status status;                             /* status of matrix multiplication */
+
+#if defined (ARM_MATH_LOOPUNROLL)
+  q31_t a0, b0, c0, d0;
+#endif
+
+#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 the row being processed */
+      px = pOut + 2 * 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 */
+        sumReal = 0.0;
+        sumImag = 0.0;
+
+        /* Initiate pointer pIn1 to point to starting address of column being processed */
+        pIn1 = pInA;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+        /* Apply loop unrolling and compute 4 MACs simultaneously. */
+        colCnt = numColsA >> 2U;
+
+        /* matrix multiplication */
+        while (colCnt > 0U)
+        {
+
+          /* Reading real part of complex matrix A */
+          a0 = *pIn1;
+
+          /* Reading real part of complex matrix B */
+          c0 = *pIn2;
+
+          /* Reading imaginary part of complex matrix A */
+          b0 = *(pIn1 + 1U);
+
+          /* Reading imaginary part of complex matrix B */
+          d0 = *(pIn2 + 1U);
+
+          /* Multiply and Accumlates */
+          sumReal += (q63_t) a0 * c0;
+          sumImag += (q63_t) b0 * c0;
+
+          /* update pointers */
+          pIn1 += 2U;
+          pIn2 += 2 * numColsB;
+
+          /* Multiply and Accumlates */
+          sumReal -= (q63_t) b0 * d0;
+          sumImag += (q63_t) a0 * d0;
+
+          /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+          /* read real and imag values from pSrcA and pSrcB buffer */
+          a1 = *(pIn1     );
+          c1 = *(pIn2     );
+          b1 = *(pIn1 + 1U);
+          d1 = *(pIn2 + 1U);
+
+          /* Multiply and Accumlates */
+          sumReal += (q63_t) a1 * c1;
+          sumImag += (q63_t) b1 * c1;
+
+          /* update pointers */
+          pIn1 += 2U;
+          pIn2 += 2 * numColsB;
+
+          /* Multiply and Accumlates */
+          sumReal -= (q63_t) b1 * d1;
+          sumImag += (q63_t) a1 * d1;
+
+          a0 = *(pIn1     );
+          c0 = *(pIn2     );
+          b0 = *(pIn1 + 1U);
+          d0 = *(pIn2 + 1U);
+
+          /* Multiply and Accumlates */
+          sumReal += (q63_t) a0 * c0;
+          sumImag += (q63_t) b0 * c0;
+
+          /* update pointers */
+          pIn1 += 2U;
+          pIn2 += 2 * numColsB;
+
+          /* Multiply and Accumlates */
+          sumReal -= (q63_t) b0 * d0;
+          sumImag += (q63_t) a0 * d0;
+
+          /* c(m,n) = a(1,1) * b(1,1) + a(1,2) * b(2,1) + .... + a(m,p) * b(p,n) */
+
+          a1 = *(pIn1     );
+          c1 = *(pIn2     );
+          b1 = *(pIn1 + 1U);
+          d1 = *(pIn2 + 1U);
+
+          /* Multiply and Accumlates */
+          sumReal += (q63_t) a1 * c1;
+          sumImag += (q63_t) b1 * c1;
+
+          /* update pointers */
+          pIn1 += 2U;
+          pIn2 += 2 * numColsB;
+
+          /* Multiply and Accumlates */
+          sumReal -= (q63_t) b1 * d1;
+          sumImag += (q63_t) a1 * d1;
+
+          /* Decrement loop count */
+          colCnt--;
+        }
+
+        /* If the columns of pSrcA is not a multiple of 4, compute any remaining MACs here.
+         ** No loop unrolling is used. */
+        colCnt = numColsA % 0x4U;
+
+#else
+
+        /* Initialize blkCnt with number of samples */
+        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) */
+          a1 = *(pIn1     );
+          c1 = *(pIn2     );
+          b1 = *(pIn1 + 1U);
+          d1 = *(pIn2 + 1U);
+
+          /* Multiply and Accumlates */
+          sumReal += (q63_t) a1 * c1;
+          sumImag += (q63_t) b1 * c1;
+
+          /* update pointers */
+          pIn1 += 2U;
+          pIn2 += 2 * numColsB;
+
+          /* Multiply and Accumlates */
+          sumReal -= (q63_t) b1 * d1;
+          sumImag += (q63_t) a1 * d1;
+
+          /* Decrement loop counter */
+          colCnt--;
+        }
+
+        /* Store result in destination buffer */
+        *px++ = (q31_t) clip_q63_to_q31(sumReal >> 31);
+        *px++ = (q31_t) clip_q63_to_q31(sumImag >> 31);
+
+        /* Update pointer pIn2 to point to starting address of next column */
+        j++;
+        pIn2 = pSrcB->pData + 2U * j;
+
+        /* Decrement column loop counter */
+        col--;
+
+      } while (col > 0U);
+
+      /* Update pointer pInA to point to starting address of next row */
+      i = i + numColsB;
+      pInA = pInA + 2 * 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 /* defined(ARM_MATH_MVEI) */
+
+/**
+  @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_trans_f16.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_trans_f16.c
new file mode 100644
index 0000000..5eda8c3
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_trans_f16.c
@@ -0,0 +1,131 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_cmplx_trans_f16.c
+ * Description:  Floating-point complex 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_f16.h"
+
+#if defined(ARM_FLOAT16_SUPPORTED)
+
+
+/**
+  @ingroup groupMatrix
+ */
+
+
+/**
+  @addtogroup MatrixComplexTrans
+  @{
+ */
+
+/**
+  @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_MVE_FLOAT16) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+arm_status arm_mat_cmplx_trans_f16(const arm_matrix_instance_f16 * pSrc, arm_matrix_instance_f16 * pDst)
+{
+    return arm_mat_cmplx_trans_16bit(pSrc->numRows, pSrc->numCols, (uint16_t *) pSrc->pData,
+                                   pDst->numRows, pDst->numCols, (uint16_t *) pDst->pData);
+}
+
+#else
+arm_status arm_mat_cmplx_trans_f16(
+  const arm_matrix_instance_f16 * pSrc,
+  arm_matrix_instance_f16 * pDst)
+{
+  float16_t *pIn = pSrc->pData;                  /* input data matrix pointer */
+  float16_t *pOut = pDst->pData;                 /* output data matrix pointer */
+  float16_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 col, 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     */
+    do
+    {
+      /* The pointer px is set to starting address of the column being processed */
+      px = pOut + CMPLX_DIM * i;
+
+      /* Initialize column loop counter */
+      col = nColumns;
+
+      while (col > 0U)
+      {
+        /* Read and store the input element in the destination */
+        px[0] = *pIn++; // real
+        px[1] = *pIn++; // imag
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += CMPLX_DIM * nRows;
+
+        /* Decrement the column loop counter */
+        col--;
+      }
+      i++;
+
+      /* Decrement the 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 /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
+
+/**
+ * @} end of MatrixTrans group
+ */
+
+#endif /* #if defined(ARM_FLOAT16_SUPPORTED) */ 
+
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_trans_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_trans_f32.c
new file mode 100644
index 0000000..222f349
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_trans_f32.c
@@ -0,0 +1,133 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_cmplx_trans_f32.c
+ * Description:  Floating-point complex 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 MatrixComplexTrans Complex Matrix Transpose
+
+  Tranposes a complex 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 MatrixComplexTrans
+  @{
+ */
+
+/**
+  @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_cmplx_trans_f32(const arm_matrix_instance_f32 * pSrc, arm_matrix_instance_f32 * pDst)
+{
+    return arm_mat_cmplx_trans_32bit(pSrc->numRows, pSrc->numCols, (uint32_t *) pSrc->pData,
+                                   pDst->numRows, pDst->numCols, (uint32_t *) pDst->pData);
+}
+
+#else
+arm_status arm_mat_cmplx_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 col, 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     */
+    do
+    {
+      /* The pointer px is set to starting address of the column being processed */
+      px = pOut + CMPLX_DIM * i;
+
+      /* Initialize column loop counter */
+      col = nColumns;
+
+      while (col > 0U)
+      {
+        /* Read and store the input element in the destination */
+        px[0] = *pIn++; // real
+        px[1] = *pIn++; // imag
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += CMPLX_DIM * nRows;
+
+        /* Decrement the column loop counter */
+        col--;
+      }
+      i++;
+
+      /* Decrement the 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 /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
+
+/**
+ * @} end of MatrixTrans group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_trans_q15.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_trans_q15.c
new file mode 100644
index 0000000..8a3724e
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_trans_q15.c
@@ -0,0 +1,124 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_cmplx_trans_q31.c
+ * Description:  Q15 complex 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
+ */
+
+/**
+  @addtogroup MatrixComplexTrans
+  @{
+ */
+
+/**
+  @brief         Q15 complex 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_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+arm_status arm_mat_cmplx_trans_q15(const arm_matrix_instance_q15 * pSrc, arm_matrix_instance_q15 * pDst)
+{
+    return arm_mat_cmplx_trans_16bit(pSrc->numRows, pSrc->numCols, (uint16_t *) pSrc->pData,
+                                   pDst->numRows, pDst->numCols, (uint16_t *) pDst->pData);
+}
+
+
+#else
+arm_status arm_mat_cmplx_trans_q15(
+  const arm_matrix_instance_q15 * pSrc,
+  arm_matrix_instance_q15 * pDst)
+{
+  q15_t *pSrcA = pSrc->pData;                    /* input data matrix pointer */
+  q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  uint16_t nRows = pSrc->numRows;                /* number of nRows */
+  uint16_t nColumns = pSrc->numCols;             /* number of nColumns */
+  uint16_t col, row = nRows, i = 0U;             /* row and column 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
+    {
+      /* The pointer pOut is set to starting address of the column being processed */
+      pOut = pDst->pData + CMPLX_DIM * i;
+
+      /* Initialize column loop counter */
+      col = nColumns;
+
+      while (col > 0U)
+      {
+        /* Read and store the input element in the destination */
+        pOut[0] = *pSrcA++; //real
+        pOut[1] = *pSrcA++; //imag
+
+        /* Update the pointer pOut to point to the next row of the transposed matrix */
+        pOut += CMPLX_DIM *nRows;
+
+        /* Decrement the column loop counter */
+        col--;
+      }
+
+      i++;
+
+      /* Decrement the row loop counter */
+      row--;
+
+    } while (row > 0U);
+
+    /* set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+  /* Return to application */
+  return (status);
+}
+#endif /* defined(ARM_MATH_MVEI) */
+
+/**
+ * @} end of MatrixTrans group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_trans_q31.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_trans_q31.c
new file mode 100644
index 0000000..a8612a3
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_cmplx_trans_q31.c
@@ -0,0 +1,129 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_cmplx_trans_q31.c
+ * Description:  Q31 complex 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
+ */
+
+
+
+/**
+  @addtogroup MatrixComplexTrans
+  @{
+ */
+
+/**
+  @brief         Q31 complex 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_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+
+arm_status arm_mat_cmplx_trans_q31(const arm_matrix_instance_q31 * pSrc, arm_matrix_instance_q31 * pDst)
+{
+    return arm_mat_cmplx_trans_32bit(pSrc->numRows, pSrc->numCols, (uint32_t *) pSrc->pData,
+                                   pDst->numRows, pDst->numCols, (uint32_t *) pDst->pData);
+}
+
+
+#else
+arm_status arm_mat_cmplx_trans_q31(
+  const arm_matrix_instance_q31 * pSrc,
+  arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pIn = pSrc->pData;                      /* input data matrix pointer  */
+  q31_t *pOut = pDst->pData;                     /* output data matrix pointer  */
+  q31_t *px;                                     /* Temporary output data matrix pointer */
+  uint16_t nRows = pSrc->numRows;                /* number of nRows */
+  uint16_t nColumns = pSrc->numCols;             /* number of nColumns  */
+  uint16_t col, 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     */
+    do
+    {
+      /* The pointer px is set to starting address of the column being processed */
+      px = pOut + CMPLX_DIM * i;
+
+      /* Initialize column loop counter */
+      col = nColumns;
+
+      while (col > 0U)
+      {
+        /* Read and store the input element in the destination */
+        px[0] = *pIn++; // real
+        px[1] = *pIn++; // imag
+
+        /* Update the pointer px to point to the next row of the transposed matrix */
+        px += CMPLX_DIM * nRows;
+
+        /* Decrement the column loop counter */
+        col--;
+      }
+
+      i++;
+
+      /* Decrement the 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 /* defined(ARM_MATH_MVEI) */
+
+/**
+ * @} end of MatrixTrans group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_f16.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_f16.c
new file mode 100644
index 0000000..6a48102
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_f16.c
@@ -0,0 +1,74 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_init_f16.c
+ * Description:  Floating-point matrix initialization
+ *
+ * $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_f16.h"
+
+#if defined(ARM_FLOAT16_SUPPORTED)
+
+
+/**
+  @ingroup groupMatrix
+ */
+
+
+/**
+  @addtogroup MatrixInit
+  @{
+ */
+
+/**
+  @brief         Floating-point matrix initialization.
+  @param[in,out] S         points to an instance of the floating-point matrix structure
+  @param[in]     nRows     number of rows in the matrix
+  @param[in]     nColumns  number of columns in the matrix
+  @param[in]     pData     points to the matrix data array
+  @return        none
+ */
+
+void arm_mat_init_f16(
+  arm_matrix_instance_f16 * S,
+  uint16_t nRows,
+  uint16_t nColumns,
+  float16_t * pData)
+{
+  /* Assign Number of Rows */
+  S->numRows = nRows;
+
+  /* Assign Number of Columns */
+  S->numCols = nColumns;
+
+  /* Assign Data pointer */
+  S->pData = pData;
+}
+
+/**
+  @} end of MatrixInit group
+ */
+
+#endif /* #if defined(ARM_FLOAT16_SUPPORTED) */ 
+
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_f32.c
new file mode 100644
index 0000000..d2a5201
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_f32.c
@@ -0,0 +1,76 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_init_f32.c
+ * Description:  Floating-point matrix initialization
+ *
+ * $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 MatrixInit Matrix Initialization
+ 
+  Initializes the underlying matrix data structure.
+  The functions set the <code>numRows</code>,
+  <code>numCols</code>, and <code>pData</code> fields
+  of the matrix data structure.
+ */
+
+/**
+  @addtogroup MatrixInit
+  @{
+ */
+
+/**
+  @brief         Floating-point matrix initialization.
+  @param[in,out] S         points to an instance of the floating-point matrix structure
+  @param[in]     nRows     number of rows in the matrix
+  @param[in]     nColumns  number of columns in the matrix
+  @param[in]     pData     points to the matrix data array
+  @return        none
+ */
+
+void arm_mat_init_f32(
+  arm_matrix_instance_f32 * S,
+  uint16_t nRows,
+  uint16_t nColumns,
+  float32_t * pData)
+{
+  /* Assign Number of Rows */
+  S->numRows = nRows;
+
+  /* Assign Number of Columns */
+  S->numCols = nColumns;
+
+  /* Assign Data pointer */
+  S->pData = pData;
+}
+
+/**
+  @} end of MatrixInit group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_q15.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_q15.c
new file mode 100644
index 0000000..33942b5
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_q15.c
@@ -0,0 +1,67 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_init_q15.c
+ * Description:  Q15 matrix initialization
+ *
+ * $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
+ */
+
+/**
+  @addtogroup MatrixInit
+  @{
+ */
+
+/**
+  @brief         Q15 matrix initialization.
+  @param[in,out] S         points to an instance of the floating-point matrix structure
+  @param[in]     nRows     number of rows in the matrix
+  @param[in]     nColumns  number of columns in the matrix
+  @param[in]     pData     points to the matrix data array
+  @return        none
+ */
+
+void arm_mat_init_q15(
+  arm_matrix_instance_q15 * S,
+  uint16_t nRows,
+  uint16_t nColumns,
+  q15_t * pData)
+{
+  /* Assign Number of Rows */
+  S->numRows = nRows;
+
+  /* Assign Number of Columns */
+  S->numCols = nColumns;
+
+  /* Assign Data pointer */
+  S->pData = pData;
+}
+
+/**
+  @} end of MatrixInit group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_q31.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_q31.c
new file mode 100644
index 0000000..ab735d0
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_init_q31.c
@@ -0,0 +1,72 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_init_q31.c
+ * Description:  Q31 matrix initialization
+ *
+ * $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 MatrixInit Matrix Initialization
+ 
+ */
+
+/**
+  @addtogroup MatrixInit
+  @{
+ */
+
+/**
+  @brief         Q31 matrix initialization.
+  @param[in,out] S         points to an instance of the Q31 matrix structure
+  @param[in]     nRows     number of rows in the matrix
+  @param[in]     nColumns  number of columns in the matrix
+  @param[in]     pData     points to the matrix data array
+  @return        none
+ */
+
+void arm_mat_init_q31(
+  arm_matrix_instance_q31 * S,
+  uint16_t nRows,
+  uint16_t nColumns,
+  q31_t * pData)
+{
+  /* Assign Number of Rows */
+  S->numRows = nRows;
+
+  /* Assign Number of Columns */
+  S->numCols = nColumns;
+
+  /* Assign Data pointer */
+  S->pData = pData;
+}
+
+/**
+  @} end of MatrixInit group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_inverse_f16.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_inverse_f16.c
new file mode 100644
index 0000000..90bc06d
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_inverse_f16.c
@@ -0,0 +1,891 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_inverse_f16.c
+ * Description:  Floating-point matrix inverse
+ *
+ * $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_f16.h"
+
+#if defined(ARM_FLOAT16_SUPPORTED)
+
+
+/**
+  @ingroup groupMatrix
+ */
+
+
+/**
+  @addtogroup MatrixInv
+  @{
+ */
+
+/**
+  @brief         Floating-point matrix inverse.
+  @param[in]     pSrc      points to input matrix structure. The source matrix is modified by the function.
+  @param[out]    pDst      points to output matrix structure
+  @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+                   - \ref ARM_MATH_SINGULAR      : Input matrix is found to be singular (non-invertible)
+ */
+#if defined(ARM_MATH_MVE_FLOAT16) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+arm_status arm_mat_inverse_f16(
+  const arm_matrix_instance_f16 * pSrc,
+  arm_matrix_instance_f16 * pDst)
+{
+    float16_t *pIn = pSrc->pData;   /* input data matrix pointer */
+    float16_t *pOut = pDst->pData;  /* output data matrix pointer */
+    float16_t *pInT1, *pInT2;   /* Temporary input data matrix pointer */
+    float16_t *pOutT1, *pOutT2; /* Temporary output data matrix pointer */
+    float16_t *pPivotRowIn, *pPRT_in, *pPivotRowDst, *pPRT_pDst;    /* Temporary input and output data matrix pointer */
+
+    uint32_t  numRows = pSrc->numRows;  /* Number of rows in the matrix  */
+    uint32_t  numCols = pSrc->numCols;  /* Number of Cols in the matrix  */
+    float16_t *pTmpA, *pTmpB;
+
+    _Float16 in = 0.0f16;        /* Temporary input values  */
+    uint32_t  i, rowCnt, flag = 0U, j, loopCnt, l;   /* loop counters */
+    arm_status status;          /* status of matrix inverse */
+    uint32_t  blkCnt;
+
+#ifdef ARM_MATH_MATRIX_CHECK
+   /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pSrc->numCols) || (pDst->numRows != pDst->numCols)
+     || (pSrc->numRows != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+  {
+
+    /*--------------------------------------------------------------------------------------------------------------
+     * Matrix Inverse can be solved using elementary row operations.
+     *
+     *  Gauss-Jordan Method:
+     *
+     *     1. First combine the identity matrix and the input matrix separated by a bar to form an
+     *        augmented matrix as follows:
+     *                      _  _          _     _      _   _         _         _
+     *                     |  |  a11  a12  | | | 1   0  |   |       |  X11 X12  |
+     *                     |  |            | | |        |   |   =   |           |
+     *                     |_ |_ a21  a22 _| | |_0   1 _|  _|       |_ X21 X21 _|
+     *
+     *      2. In our implementation, pDst Matrix is used as identity matrix.
+     *
+     *      3. Begin with the first row. Let i = 1.
+     *
+     *      4. Check to see if the pivot for row i is zero.
+     *         The pivot is the element of the main diagonal that is on the current row.
+     *         For instance, if working with row i, then the pivot element is aii.
+     *         If the pivot is zero, exchange that row with a row below it that does not
+     *         contain a zero in column i. If this is not possible, then an inverse
+     *         to that matrix does not exist.
+     *
+     *      5. Divide every element of row i by the pivot.
+     *
+     *      6. For every row below and  row i, replace that row with the sum of that row and
+     *         a multiple of row i so that each new element in column i below row i is zero.
+     *
+     *      7. Move to the next row and column and repeat steps 2 through 5 until you have zeros
+     *         for every element below and above the main diagonal.
+     *
+     *      8. Now an identical matrix is formed to the left of the bar(input matrix, src).
+     *         Therefore, the matrix to the right of the bar is our solution(dst matrix, dst).
+     *----------------------------------------------------------------------------------------------------------------*/
+
+        /*
+         * Working pointer for destination matrix
+         */
+        pOutT1 = pOut;
+        /*
+         * Loop over the number of rows
+         */
+        rowCnt = numRows;
+        /*
+         * Making the destination matrix as identity matrix
+         */
+        while (rowCnt > 0U)
+        {
+            /*
+             * Writing all zeroes in lower triangle of the destination matrix
+             */
+            j = numRows - rowCnt;
+            while (j > 0U)
+            {
+                *pOutT1++ = 0.0f16;
+                j--;
+            }
+            /*
+             * Writing all ones in the diagonal of the destination matrix
+             */
+            *pOutT1++ = 1.0f16;
+            /*
+             * Writing all zeroes in upper triangle of the destination matrix
+             */
+            j = rowCnt - 1U;
+            while (j > 0U)
+            {
+                *pOutT1++ = 0.0f16;
+                j--;
+            }
+            /*
+             * Decrement the loop counter
+             */
+            rowCnt--;
+        }
+
+        /*
+         * Loop over the number of columns of the input matrix.
+         * All the elements in each column are processed by the row operations
+         */
+        loopCnt = numCols;
+        /*
+         * Index modifier to navigate through the columns
+         */
+        l = 0U;
+        while (loopCnt > 0U)
+        {
+            /*
+             * Check if the pivot element is zero..
+             * If it is zero then interchange the row with non zero row below.
+             * If there is no non zero element to replace in the rows below,
+             * then the matrix is Singular.
+             */
+
+            /*
+             * Working pointer for the input matrix that points
+             * * to the pivot element of the particular row
+             */
+            pInT1 = pIn + (l * numCols);
+            /*
+             * Working pointer for the destination matrix that points
+             * * to the pivot element of the particular row
+             */
+            pOutT1 = pOut + (l * numCols);
+            /*
+             * Temporary variable to hold the pivot value
+             */
+            in = *pInT1;
+            
+
+            /*
+             * Check if the pivot element is zero
+             */
+            if ((_Float16)*pInT1 == 0.0f16)
+            {
+                /*
+                 * Loop over the number rows present below
+                 */
+                for (i = 1U; i < numRows-l; i++)
+                {
+                    /*
+                     * Update the input and destination pointers
+                     */
+                    pInT2 = pInT1 + (numCols * i);
+                    pOutT2 = pOutT1 + (numCols * i);
+                    /*
+                     * Check if there is a non zero pivot element to
+                     * * replace in the rows below
+                     */
+                    if ((_Float16)*pInT2 != 0.0f16)
+                    {
+                        f16x8_t vecA, vecB;
+                        /*
+                         * Loop over number of columns
+                         * * to the right of the pilot element
+                         */
+                        pTmpA = pInT1;
+                        pTmpB = pInT2;
+                        blkCnt = (numCols - l) >> 3;
+                        while (blkCnt > 0U)
+                        {
+                            
+                            vecA = vldrhq_f16(pTmpA);
+                            vecB = vldrhq_f16(pTmpB);
+                            vstrhq_f16(pTmpB, vecA);
+                            vstrhq_f16(pTmpA, vecB);
+
+                            pTmpA += 8;
+                            pTmpB += 8;
+                            /*
+                             * Decrement the blockSize loop counter
+                             */
+                            blkCnt--;
+                        }
+                        /*
+                         * tail
+                         * (will be merged thru tail predication)
+                         */
+                        blkCnt = (numCols - l) & 7;
+                        if (blkCnt > 0U)
+                        {
+                            mve_pred16_t p0 = vctp16q(blkCnt);
+
+                            vecA = vldrhq_f16(pTmpA);
+                            vecB = vldrhq_f16(pTmpB);
+                            vstrhq_p_f16(pTmpB, vecA, p0);
+                            vstrhq_p_f16(pTmpA, vecB, p0);
+                        }
+
+                        pInT1 += numCols - l;
+                        pInT2 += numCols - l;
+                        pTmpA = pOutT1;
+                        pTmpB = pOutT2;
+                        blkCnt = numCols >> 3;
+                        while (blkCnt > 0U)
+                        {
+
+                            vecA = vldrhq_f16(pTmpA);
+                            vecB = vldrhq_f16(pTmpB);
+                            vstrhq_f16(pTmpB, vecA);
+                            vstrhq_f16(pTmpA, vecB);
+                            pTmpA += 8;
+                            pTmpB += 8;
+                            /*
+                             * Decrement the blockSize loop counter
+                             */
+                            blkCnt--;
+                        }
+                        /*
+                         * tail
+                         */
+                        blkCnt = numCols & 7;
+                        if (blkCnt > 0U)
+                        {
+                            mve_pred16_t p0 = vctp16q(blkCnt);
+
+                            vecA = vldrhq_f16(pTmpA);
+                            vecB = vldrhq_f16(pTmpB);
+                            vstrhq_p_f16(pTmpB, vecA, p0);
+                            vstrhq_p_f16(pTmpA, vecB, p0);
+                        }
+
+                        pOutT1 += numCols;
+                        pOutT2 += numCols;
+                        /*
+                         * Flag to indicate whether exchange is done or not
+                         */
+                        flag = 1U;
+
+                        /*
+                         * Break after exchange is done
+                         */
+                        break;
+                    }
+              
+                }
+            }
+
+            /*
+             * Update the status if the matrix is singular
+             */
+            if ((flag != 1U) && (in == 0.0f16))
+            {
+                return ARM_MATH_SINGULAR;
+            }
+
+            /*
+             * Points to the pivot row of input and destination matrices
+             */
+            pPivotRowIn = pIn + (l * numCols);
+            pPivotRowDst = pOut + (l * numCols);
+
+            /*
+             * Temporary pointers to the pivot row pointers
+             */
+            pInT1 = pPivotRowIn;
+            pOutT1 = pPivotRowDst;
+
+            /*
+             * Pivot element of the row
+             */
+            in = *(pIn + (l * numCols));
+
+            pTmpA = pInT1;
+
+            f16x8_t invIn = vdupq_n_f16(1.0f16 / in);
+
+            blkCnt = (numCols - l) >> 3;
+            f16x8_t vecA;
+            while (blkCnt > 0U)
+            {
+                *(f16x8_t *) pTmpA = *(f16x8_t *) pTmpA * invIn;
+                pTmpA += 8;
+                /*
+                 * Decrement the blockSize loop counter
+                 */
+                blkCnt--;
+            }
+            /*
+             * tail
+             */
+            blkCnt = (numCols - l) & 7;
+            if (blkCnt > 0U)
+            {
+                mve_pred16_t p0 = vctp16q(blkCnt);
+                
+
+                vecA = vldrhq_f16(pTmpA);
+                vecA = vecA * invIn;
+                vstrhq_p_f16(pTmpA, vecA, p0);
+            }
+
+            pInT1 += numCols - l;
+            /*
+             * Loop over number of columns
+             * * to the right of the pilot element
+             */
+
+            pTmpA = pOutT1;
+            blkCnt = numCols >> 3;
+            while (blkCnt > 0U)
+            {
+                *(f16x8_t *) pTmpA = *(f16x8_t *) pTmpA *invIn;
+                pTmpA += 8;
+                /*
+                 * Decrement the blockSize loop counter
+                 */
+                blkCnt--;
+            }
+            /*
+             * tail
+             * (will be merged thru tail predication)
+             */
+            blkCnt = numCols & 7;
+            if (blkCnt > 0U)
+            {
+                mve_pred16_t p0 = vctp16q(blkCnt);
+
+                vecA = vldrhq_f16(pTmpA);
+                vecA = vecA * invIn;
+                vstrhq_p_f16(pTmpA, vecA, p0);
+            }
+
+            pOutT1 += numCols;
+
+            /*
+             * Replace the rows with the sum of that row and a multiple of row i
+             * * so that each new element in column i above row i is zero.
+             */
+
+            /*
+             * Temporary pointers for input and destination matrices
+             */
+            pInT1 = pIn;
+            pOutT1 = pOut;
+
+            for (i = 0U; i < numRows; i++)
+            {
+                /*
+                 * Check for the pivot element
+                 */
+                if (i == l)
+                {
+                    /*
+                     * If the processing element is the pivot element,
+                     * only the columns to the right are to be processed
+                     */
+                    pInT1 += numCols - l;
+                    pOutT1 += numCols;
+                }
+                else
+                {
+                    /*
+                     * Element of the reference row
+                     */
+
+                    /*
+                     * Working pointers for input and destination pivot rows
+                     */
+                    pPRT_in = pPivotRowIn;
+                    pPRT_pDst = pPivotRowDst;
+                    /*
+                     * Loop over the number of columns to the right of the pivot element,
+                     * to replace the elements in the input matrix
+                     */
+
+                    in = *pInT1;
+                    f16x8_t tmpV = vdupq_n_f16(in);
+
+                    blkCnt = (numCols - l) >> 3;
+                    while (blkCnt > 0U)
+                    {
+                        f16x8_t vec1, vec2;
+                        /*
+                         * Replace the element by the sum of that row
+                         * and a multiple of the reference row
+                         */
+                        vec1 = vldrhq_f16(pInT1);
+                        vec2 = vldrhq_f16(pPRT_in);
+                        vec1 = vfmsq_f16(vec1, tmpV, vec2);
+                        vstrhq_f16(pInT1, vec1);
+                        pPRT_in += 8;
+                        pInT1 += 8;
+                        /*
+                         * Decrement the blockSize loop counter
+                         */
+                        blkCnt--;
+                    }
+                    /*
+                     * tail
+                     * (will be merged thru tail predication)
+                     */
+                    blkCnt = (numCols - l) & 7;
+                    if (blkCnt > 0U)
+                    {
+                        f16x8_t vec1, vec2;
+                        mve_pred16_t p0 = vctp16q(blkCnt);
+
+                        vec1 = vldrhq_f16(pInT1);
+                        vec2 = vldrhq_f16(pPRT_in);
+                        vec1 = vfmsq_f16(vec1, tmpV, vec2);
+                        vstrhq_p_f16(pInT1, vec1, p0);
+                        pInT1 += blkCnt;
+                    }
+
+                    blkCnt = numCols >> 3;
+                    while (blkCnt > 0U)
+                    {
+                        f16x8_t vec1, vec2;
+
+                        /*
+                         * Replace the element by the sum of that row
+                         * and a multiple of the reference row
+                         */
+                        vec1 = vldrhq_f16(pOutT1);
+                        vec2 = vldrhq_f16(pPRT_pDst);
+                        vec1 = vfmsq_f16(vec1, tmpV, vec2);
+                        vstrhq_f16(pOutT1, vec1);
+                        pPRT_pDst += 8;
+                        pOutT1 += 8;
+                        /*
+                         * Decrement the blockSize loop counter
+                         */
+                        blkCnt--;
+                    }
+                    /*
+                     * tail
+                     * (will be merged thru tail predication)
+                     */
+                    blkCnt = numCols & 7;
+                    if (blkCnt > 0U)
+                    {
+                        f16x8_t vec1, vec2;
+                        mve_pred16_t p0 = vctp16q(blkCnt);
+
+                        vec1 = vldrhq_f16(pOutT1);
+                        vec2 = vldrhq_f16(pPRT_pDst);
+                        vec1 = vfmsq_f16(vec1, tmpV, vec2);
+                        vstrhq_p_f16(pOutT1, vec1, p0);
+
+                        pInT2 += blkCnt;
+                        pOutT1 += blkCnt;
+                    }
+                }
+                /*
+                 * Increment the temporary input pointer
+                 */
+                pInT1 = pInT1 + l;
+            }
+            /*
+             * Increment the input pointer
+             */
+            pIn++;
+            /*
+             * Decrement the loop counter
+             */
+            loopCnt--;
+            /*
+             * Increment the index modifier
+             */
+            l++;
+        }
+
+        /*
+         * Set status as ARM_MATH_SUCCESS
+         */
+        status = ARM_MATH_SUCCESS;
+
+        if ((flag != 1U) && (in == 0.0f16))
+        {
+            pIn = pSrc->pData;
+            for (i = 0; i < numRows * numCols; i++)
+            {
+                if ((_Float16)pIn[i] != 0.0f16)
+                    break;
+            }
+
+            if (i == numRows * numCols)
+                status = ARM_MATH_SINGULAR;
+        }
+  }
+  /* Return to application */
+  return (status);
+}
+
+#else
+
+arm_status arm_mat_inverse_f16(
+  const arm_matrix_instance_f16 * pSrc,
+        arm_matrix_instance_f16 * pDst)
+{
+  float16_t *pIn = pSrc->pData;                  /* input data matrix pointer */
+  float16_t *pOut = pDst->pData;                 /* output data matrix pointer */
+  float16_t *pInT1, *pInT2;                      /* Temporary input data matrix pointer */
+  float16_t *pOutT1, *pOutT2;                    /* Temporary output data matrix pointer */
+  float16_t *pPivotRowIn, *pPRT_in, *pPivotRowDst, *pPRT_pDst;  /* Temporary input and output data matrix pointer */
+  uint32_t numRows = pSrc->numRows;              /* Number of rows in the matrix  */
+  uint32_t numCols = pSrc->numCols;              /* Number of Cols in the matrix  */
+
+  _Float16 Xchg, in = 0.0f16, in1;                /* Temporary input values  */
+  uint32_t i, rowCnt, flag = 0U, j, loopCnt, k,l;      /* loop counters */
+  arm_status status;                             /* status of matrix inverse */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pSrc->numCols) ||
+      (pDst->numRows != pDst->numCols) ||
+      (pSrc->numRows != pDst->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+
+    /*--------------------------------------------------------------------------------------------------------------
+     * Matrix Inverse can be solved using elementary row operations.
+     *
+     *  Gauss-Jordan Method:
+     *
+     *      1. First combine the identity matrix and the input matrix separated by a bar to form an
+     *        augmented matrix as follows:
+     *                      _                  _         _         _
+     *                     |  a11  a12 | 1   0  |       |  X11 X12  |
+     *                     |           |        |   =   |           |
+     *                     |_ a21  a22 | 0   1 _|       |_ X21 X21 _|
+     *
+     *      2. In our implementation, pDst Matrix is used as identity matrix.
+     *
+     *      3. Begin with the first row. Let i = 1.
+     *
+     *      4. Check to see if the pivot for row i is zero.
+     *         The pivot is the element of the main diagonal that is on the current row.
+     *         For instance, if working with row i, then the pivot element is aii.
+     *         If the pivot is zero, exchange that row with a row below it that does not
+     *         contain a zero in column i. If this is not possible, then an inverse
+     *         to that matrix does not exist.
+     *
+     *      5. Divide every element of row i by the pivot.
+     *
+     *      6. For every row below and  row i, replace that row with the sum of that row and
+     *         a multiple of row i so that each new element in column i below row i is zero.
+     *
+     *      7. Move to the next row and column and repeat steps 2 through 5 until you have zeros
+     *         for every element below and above the main diagonal.
+     *
+     *      8. Now an identical matrix is formed to the left of the bar(input matrix, pSrc).
+     *         Therefore, the matrix to the right of the bar is our solution(pDst matrix, pDst).
+     *----------------------------------------------------------------------------------------------------------------*/
+
+    /* Working pointer for destination matrix */
+    pOutT1 = pOut;
+
+    /* Loop over the number of rows */
+    rowCnt = numRows;
+
+    /* Making the destination matrix as identity matrix */
+    while (rowCnt > 0U)
+    {
+      /* Writing all zeroes in lower triangle of the destination matrix */
+      j = numRows - rowCnt;
+      while (j > 0U)
+      {
+        *pOutT1++ = 0.0f16;
+        j--;
+      }
+
+      /* Writing all ones in the diagonal of the destination matrix */
+      *pOutT1++ = 1.0f16;
+
+      /* Writing all zeroes in upper triangle of the destination matrix */
+      j = rowCnt - 1U;
+      while (j > 0U)
+      {
+        *pOutT1++ = 0.0f16;
+        j--;
+      }
+
+      /* Decrement loop counter */
+      rowCnt--;
+    }
+
+    /* Loop over the number of columns of the input matrix.
+       All the elements in each column are processed by the row operations */
+    loopCnt = numCols;
+
+    /* Index modifier to navigate through the columns */
+    l = 0U;
+
+    while (loopCnt > 0U)
+    {
+      /* Check if the pivot element is zero..
+       * If it is zero then interchange the row with non zero row below.
+       * If there is no non zero element to replace in the rows below,
+       * then the matrix is Singular. */
+
+      /* Working pointer for the input matrix that points
+       * to the pivot element of the particular row  */
+      pInT1 = pIn + (l * numCols);
+
+      /* Working pointer for the destination matrix that points
+       * to the pivot element of the particular row  */
+      pOutT1 = pOut + (l * numCols);
+
+      /* Temporary variable to hold the pivot value */
+      in = *pInT1;
+
+
+      /* Check if the pivot element is zero */
+      if ((_Float16)*pInT1 == 0.0f16)
+      {
+        /* Loop over the number rows present below */
+
+        for (i = 1U; i < numRows-l; i++)
+        {
+          /* Update the input and destination pointers */
+          pInT2 = pInT1 + (numCols * i);
+          pOutT2 = pOutT1 + (numCols * i);
+
+          /* Check if there is a non zero pivot element to
+           * replace in the rows below */
+          if ((_Float16)*pInT2 != 0.0f16)
+          {
+            /* Loop over number of columns
+             * to the right of the pilot element */
+            j = numCols - l;
+
+            while (j > 0U)
+            {
+              /* Exchange the row elements of the input matrix */
+              Xchg = *pInT2;
+              *pInT2++ = *pInT1;
+              *pInT1++ = Xchg;
+
+              /* Decrement the loop counter */
+              j--;
+            }
+
+            /* Loop over number of columns of the destination matrix */
+            j = numCols;
+
+            while (j > 0U)
+            {
+              /* Exchange the row elements of the destination matrix */
+              Xchg = *pOutT2;
+              *pOutT2++ = *pOutT1;
+              *pOutT1++ = Xchg;
+
+              /* Decrement loop counter */
+              j--;
+            }
+
+            /* Flag to indicate whether exchange is done or not */
+            flag = 1U;
+
+            /* Break after exchange is done */
+            break;
+          }
+
+        }
+      }
+
+      /* Update the status if the matrix is singular */
+      if ((flag != 1U) && (in == 0.0f16))
+      {
+        return ARM_MATH_SINGULAR;
+      }
+
+      /* Points to the pivot row of input and destination matrices */
+      pPivotRowIn = pIn + (l * numCols);
+      pPivotRowDst = pOut + (l * numCols);
+
+      /* Temporary pointers to the pivot row pointers */
+      pInT1 = pPivotRowIn;
+      pInT2 = pPivotRowDst;
+
+      /* Pivot element of the row */
+      in = *pPivotRowIn;
+
+      /* Loop over number of columns
+       * to the right of the pilot element */
+      j = (numCols - l);
+
+      while (j > 0U)
+      {
+        /* Divide each element of the row of the input matrix
+         * by the pivot element */
+        in1 = *pInT1;
+        *pInT1++ = in1 / in;
+
+        /* Decrement the loop counter */
+        j--;
+      }
+
+      /* Loop over number of columns of the destination matrix */
+      j = numCols;
+
+      while (j > 0U)
+      {
+        /* Divide each element of the row of the destination matrix
+         * by the pivot element */
+        in1 = *pInT2;
+        *pInT2++ = in1 / in;
+
+        /* Decrement the loop counter */
+        j--;
+      }
+
+      /* Replace the rows with the sum of that row and a multiple of row i
+       * so that each new element in column i above row i is zero.*/
+
+      /* Temporary pointers for input and destination matrices */
+      pInT1 = pIn;
+      pInT2 = pOut;
+
+      /* index used to check for pivot element */
+      i = 0U;
+
+      /* Loop over number of rows */
+      /*  to be replaced by the sum of that row and a multiple of row i */
+      k = numRows;
+
+      while (k > 0U)
+      {
+        /* Check for the pivot element */
+        if (i == l)
+        {
+          /* If the processing element is the pivot element,
+             only the columns to the right are to be processed */
+          pInT1 += numCols - l;
+
+          pInT2 += numCols;
+        }
+        else
+        {
+          /* Element of the reference row */
+          in = *pInT1;
+
+          /* Working pointers for input and destination pivot rows */
+          pPRT_in = pPivotRowIn;
+          pPRT_pDst = pPivotRowDst;
+
+          /* Loop over the number of columns to the right of the pivot element,
+             to replace the elements in the input matrix */
+          j = (numCols - l);
+
+          while (j > 0U)
+          {
+            /* Replace the element by the sum of that row
+               and a multiple of the reference row  */
+            in1 = *pInT1;
+            *pInT1++ = (_Float16)in1 - ((_Float16)in * (_Float16)*pPRT_in++);
+
+            /* Decrement the loop counter */
+            j--;
+          }
+
+          /* Loop over the number of columns to
+             replace the elements in the destination matrix */
+          j = numCols;
+
+          while (j > 0U)
+          {
+            /* Replace the element by the sum of that row
+               and a multiple of the reference row  */
+            in1 = *pInT2;
+            *pInT2++ = (_Float16)in1 - ((_Float16)in * (_Float16)*pPRT_pDst++);
+
+            /* Decrement loop counter */
+            j--;
+          }
+
+        }
+
+        /* Increment temporary input pointer */
+        pInT1 = pInT1 + l;
+
+        /* Decrement loop counter */
+        k--;
+
+        /* Increment pivot index */
+        i++;
+      }
+
+      /* Increment the input pointer */
+      pIn++;
+
+      /* Decrement the loop counter */
+      loopCnt--;
+
+      /* Increment the index modifier */
+      l++;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+
+    if ((flag != 1U) && ((_Float16)in == 0.0f16))
+    {
+      pIn = pSrc->pData;
+      for (i = 0; i < numRows * numCols; i++)
+      {
+        if ((_Float16)pIn[i] != 0.0f16)
+            break;
+      }
+
+      if (i == numRows * numCols)
+        status = ARM_MATH_SINGULAR;
+    }
+  }
+
+  /* Return to application */
+  return (status);
+}
+#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
+
+/**
+  @} end of MatrixInv group
+ */
+
+#endif /* #if defined(ARM_FLOAT16_SUPPORTED) */ 
+
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_inverse_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_inverse_f32.c
new file mode 100644
index 0000000..b0ef760
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_inverse_f32.c
@@ -0,0 +1,1570 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_inverse_f32.c
+ * Description:  Floating-point matrix inverse
+ *
+ * $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 MatrixInv Matrix Inverse
+
+  Computes the inverse of a matrix.
+
+  The inverse is defined only if the input matrix is square and non-singular (the determinant is non-zero).
+  The function checks that the input and output matrices are square and of the same size.
+
+  Matrix inversion is numerically sensitive and the CMSIS DSP library only supports matrix
+  inversion of floating-point matrices.
+
+  @par Algorithm
+  The Gauss-Jordan method is used to find the inverse.
+  The algorithm performs a sequence of elementary row-operations until it
+  reduces the input matrix to an identity matrix. Applying the same sequence
+  of elementary row-operations to an identity matrix yields the inverse matrix.
+  If the input matrix is singular, then the algorithm terminates and returns error status
+  <code>ARM_MATH_SINGULAR</code>.
+  \image html MatrixInverse.gif "Matrix Inverse of a 3 x 3 matrix using Gauss-Jordan Method"
+ */
+
+/**
+  @addtogroup MatrixInv
+  @{
+ */
+
+/**
+  @brief         Floating-point matrix inverse.
+  @param[in]     pSrc      points to input matrix structure. The source matrix is modified by the function.
+  @param[out]    pDst      points to output matrix structure
+  @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+                   - \ref ARM_MATH_SINGULAR      : Input matrix is found to be singular (non-invertible)
+ */
+#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+arm_status arm_mat_inverse_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 *pInT1, *pInT2;   /* Temporary input data matrix pointer */
+    float32_t *pOutT1, *pOutT2; /* Temporary output data matrix pointer */
+    float32_t *pPivotRowIn, *pPRT_in, *pPivotRowDst, *pPRT_pDst;    /* Temporary input and output data matrix pointer */
+
+    uint32_t  numRows = pSrc->numRows;  /* Number of rows in the matrix  */
+    uint32_t  numCols = pSrc->numCols;  /* Number of Cols in the matrix  */
+    float32_t *pTmpA, *pTmpB;
+
+    float32_t in = 0.0f;        /* Temporary input values  */
+    uint32_t  i, rowCnt, flag = 0U, j, loopCnt, l;   /* loop counters */
+    arm_status status;          /* status of matrix inverse */
+    uint32_t  blkCnt;
+
+#ifdef ARM_MATH_MATRIX_CHECK
+   /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pSrc->numCols) || (pDst->numRows != pDst->numCols)
+     || (pSrc->numRows != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+  {
+
+    /*--------------------------------------------------------------------------------------------------------------
+     * Matrix Inverse can be solved using elementary row operations.
+     *
+     *  Gauss-Jordan Method:
+     *
+     *     1. First combine the identity matrix and the input matrix separated by a bar to form an
+     *        augmented matrix as follows:
+     *                      _  _          _     _      _   _         _         _
+     *                     |  |  a11  a12  | | | 1   0  |   |       |  X11 X12  |
+     *                     |  |            | | |        |   |   =   |           |
+     *                     |_ |_ a21  a22 _| | |_0   1 _|  _|       |_ X21 X21 _|
+     *
+     *      2. In our implementation, pDst Matrix is used as identity matrix.
+     *
+     *      3. Begin with the first row. Let i = 1.
+     *
+     *      4. Check to see if the pivot for row i is zero.
+     *         The pivot is the element of the main diagonal that is on the current row.
+     *         For instance, if working with row i, then the pivot element is aii.
+     *         If the pivot is zero, exchange that row with a row below it that does not
+     *         contain a zero in column i. If this is not possible, then an inverse
+     *         to that matrix does not exist.
+     *
+     *      5. Divide every element of row i by the pivot.
+     *
+     *      6. For every row below and  row i, replace that row with the sum of that row and
+     *         a multiple of row i so that each new element in column i below row i is zero.
+     *
+     *      7. Move to the next row and column and repeat steps 2 through 5 until you have zeros
+     *         for every element below and above the main diagonal.
+     *
+     *      8. Now an identical matrix is formed to the left of the bar(input matrix, src).
+     *         Therefore, the matrix to the right of the bar is our solution(dst matrix, dst).
+     *----------------------------------------------------------------------------------------------------------------*/
+
+        /*
+         * Working pointer for destination matrix
+         */
+        pOutT1 = pOut;
+        /*
+         * Loop over the number of rows
+         */
+        rowCnt = numRows;
+        /*
+         * Making the destination matrix as identity matrix
+         */
+        while (rowCnt > 0U)
+        {
+            /*
+             * Writing all zeroes in lower triangle of the destination matrix
+             */
+            j = numRows - rowCnt;
+            while (j > 0U)
+            {
+                *pOutT1++ = 0.0f;
+                j--;
+            }
+            /*
+             * Writing all ones in the diagonal of the destination matrix
+             */
+            *pOutT1++ = 1.0f;
+            /*
+             * Writing all zeroes in upper triangle of the destination matrix
+             */
+            j = rowCnt - 1U;
+            while (j > 0U)
+            {
+                *pOutT1++ = 0.0f;
+                j--;
+            }
+            /*
+             * Decrement the loop counter
+             */
+            rowCnt--;
+        }
+
+        /*
+         * Loop over the number of columns of the input matrix.
+         * All the elements in each column are processed by the row operations
+         */
+        loopCnt = numCols;
+        /*
+         * Index modifier to navigate through the columns
+         */
+        l = 0U;
+        while (loopCnt > 0U)
+        {
+            /*
+             * Check if the pivot element is zero..
+             * If it is zero then interchange the row with non zero row below.
+             * If there is no non zero element to replace in the rows below,
+             * then the matrix is Singular.
+             */
+
+            /*
+             * Working pointer for the input matrix that points
+             * * to the pivot element of the particular row
+             */
+            pInT1 = pIn + (l * numCols);
+            /*
+             * Working pointer for the destination matrix that points
+             * * to the pivot element of the particular row
+             */
+            pOutT1 = pOut + (l * numCols);
+            /*
+             * Temporary variable to hold the pivot value
+             */
+            in = *pInT1;
+           
+
+            /*
+             * Check if the pivot element is zero
+             */
+            if (*pInT1 == 0.0f)
+            {
+                /*
+                 * Loop over the number rows present below
+                 */
+                for (i = 1U; i < numRows-l; i++)
+                {
+                    /*
+                     * Update the input and destination pointers
+                     */
+                    pInT2 = pInT1 + (numCols * i);
+                    pOutT2 = pOutT1 + (numCols * i);
+                    /*
+                     * Check if there is a non zero pivot element to
+                     * * replace in the rows below
+                     */
+                    if (*pInT2 != 0.0f)
+                    {
+                        f32x4_t vecA, vecB;
+                        /*
+                         * Loop over number of columns
+                         * * to the right of the pilot element
+                         */
+                        pTmpA = pInT1;
+                        pTmpB = pInT2;
+                        blkCnt = (numCols - l) >> 2;
+                        while (blkCnt > 0U)
+                        {
+                            
+                            vecA = vldrwq_f32(pTmpA);
+                            vecB = vldrwq_f32(pTmpB);
+                            vstrwq_f32(pTmpB, vecA);
+                            vstrwq_f32(pTmpA, vecB);
+
+                            pTmpA += 4;
+                            pTmpB += 4;
+                            /*
+                             * Decrement the blockSize loop counter
+                             */
+                            blkCnt--;
+                        }
+                        /*
+                         * tail
+                         * (will be merged thru tail predication)
+                         */
+                        blkCnt = (numCols - l) & 3;
+                        if (blkCnt > 0U)
+                        {
+                            mve_pred16_t p0 = vctp32q(blkCnt);
+
+                            vecA = vldrwq_f32(pTmpA);
+                            vecB = vldrwq_f32(pTmpB);
+                            vstrwq_p_f32(pTmpB, vecA, p0);
+                            vstrwq_p_f32(pTmpA, vecB, p0);
+                        }
+
+                        pInT1 += numCols - l;
+                        pInT2 += numCols - l;
+                        pTmpA = pOutT1;
+                        pTmpB = pOutT2;
+                        blkCnt = numCols >> 2;
+                        while (blkCnt > 0U)
+                        {
+
+                            vecA = vldrwq_f32(pTmpA);
+                            vecB = vldrwq_f32(pTmpB);
+                            vstrwq_f32(pTmpB, vecA);
+                            vstrwq_f32(pTmpA, vecB);
+                            pTmpA += 4;
+                            pTmpB += 4;
+                            /*
+                             * Decrement the blockSize loop counter
+                             */
+                            blkCnt--;
+                        }
+                        /*
+                         * tail
+                         */
+                        blkCnt = numCols & 3;
+                        if (blkCnt > 0U)
+                        {
+                            mve_pred16_t p0 = vctp32q(blkCnt);
+
+                            vecA = vldrwq_f32(pTmpA);
+                            vecB = vldrwq_f32(pTmpB);
+                            vstrwq_p_f32(pTmpB, vecA, p0);
+                            vstrwq_p_f32(pTmpA, vecB, p0);
+                        }
+
+                        pOutT1 += numCols;
+                        pOutT2 += numCols;
+                        /*
+                         * Flag to indicate whether exchange is done or not
+                         */
+                        flag = 1U;
+
+                        /*
+                         * Break after exchange is done
+                         */
+                        break;
+                    }
+                    
+                }
+            }
+
+            /*
+             * Update the status if the matrix is singular
+             */
+            if ((flag != 1U) && (in == 0.0f))
+            {
+                return ARM_MATH_SINGULAR;
+            }
+
+            /*
+             * Points to the pivot row of input and destination matrices
+             */
+            pPivotRowIn = pIn + (l * numCols);
+            pPivotRowDst = pOut + (l * numCols);
+
+            /*
+             * Temporary pointers to the pivot row pointers
+             */
+            pInT1 = pPivotRowIn;
+            pOutT1 = pPivotRowDst;
+
+            /*
+             * Pivot element of the row
+             */
+            in = *(pIn + (l * numCols));
+
+            pTmpA = pInT1;
+
+            f32x4_t invIn = vdupq_n_f32(1.0f / in);
+
+            blkCnt = (numCols - l) >> 2;
+            f32x4_t vecA;
+            while (blkCnt > 0U)
+            {
+                *(f32x4_t *) pTmpA = *(f32x4_t *) pTmpA * invIn;
+                pTmpA += 4;
+                /*
+                 * Decrement the blockSize loop counter
+                 */
+                blkCnt--;
+            }
+            /*
+             * tail
+             */
+            blkCnt = (numCols - l) & 3;
+            if (blkCnt > 0U)
+            {
+                mve_pred16_t p0 = vctp32q(blkCnt);
+                
+
+                vecA = vldrwq_f32(pTmpA);
+                vecA = vecA * invIn;
+                vstrwq_p_f32(pTmpA, vecA, p0);
+            }
+
+            pInT1 += numCols - l;
+            /*
+             * Loop over number of columns
+             * * to the right of the pilot element
+             */
+
+            pTmpA = pOutT1;
+            blkCnt = numCols >> 2;
+            while (blkCnt > 0U)
+            {
+                *(f32x4_t *) pTmpA = *(f32x4_t *) pTmpA *invIn;
+                pTmpA += 4;
+                /*
+                 * Decrement the blockSize loop counter
+                 */
+                blkCnt--;
+            }
+            /*
+             * tail
+             * (will be merged thru tail predication)
+             */
+            blkCnt = numCols & 3;
+            if (blkCnt > 0U)
+            {
+                mve_pred16_t p0 = vctp32q(blkCnt);
+
+                vecA = vldrwq_f32(pTmpA);
+                vecA = vecA * invIn;
+                vstrwq_p_f32(pTmpA, vecA, p0);
+            }
+
+            pOutT1 += numCols;
+
+            /*
+             * Replace the rows with the sum of that row and a multiple of row i
+             * * so that each new element in column i above row i is zero.
+             */
+
+            /*
+             * Temporary pointers for input and destination matrices
+             */
+            pInT1 = pIn;
+            pOutT1 = pOut;
+
+            for (i = 0U; i < numRows; i++)
+            {
+                /*
+                 * Check for the pivot element
+                 */
+                if (i == l)
+                {
+                    /*
+                     * If the processing element is the pivot element,
+                     * only the columns to the right are to be processed
+                     */
+                    pInT1 += numCols - l;
+                    pOutT1 += numCols;
+                }
+                else
+                {
+                    /*
+                     * Element of the reference row
+                     */
+
+                    /*
+                     * Working pointers for input and destination pivot rows
+                     */
+                    pPRT_in = pPivotRowIn;
+                    pPRT_pDst = pPivotRowDst;
+                    /*
+                     * Loop over the number of columns to the right of the pivot element,
+                     * to replace the elements in the input matrix
+                     */
+
+                    in = *pInT1;
+                    f32x4_t tmpV = vdupq_n_f32(in);
+
+                    blkCnt = (numCols - l) >> 2;
+                    while (blkCnt > 0U)
+                    {
+                        f32x4_t vec1, vec2;
+                        /*
+                         * Replace the element by the sum of that row
+                         * and a multiple of the reference row
+                         */
+                        vec1 = vldrwq_f32(pInT1);
+                        vec2 = vldrwq_f32(pPRT_in);
+                        vec1 = vfmsq_f32(vec1, tmpV, vec2);
+                        vstrwq_f32(pInT1, vec1);
+                        pPRT_in += 4;
+                        pInT1 += 4;
+                        /*
+                         * Decrement the blockSize loop counter
+                         */
+                        blkCnt--;
+                    }
+                    /*
+                     * tail
+                     * (will be merged thru tail predication)
+                     */
+                    blkCnt = (numCols - l) & 3;
+                    if (blkCnt > 0U)
+                    {
+                        f32x4_t vec1, vec2;
+                        mve_pred16_t p0 = vctp32q(blkCnt);
+
+                        vec1 = vldrwq_f32(pInT1);
+                        vec2 = vldrwq_f32(pPRT_in);
+                        vec1 = vfmsq_f32(vec1, tmpV, vec2);
+                        vstrwq_p_f32(pInT1, vec1, p0);
+                        pInT1 += blkCnt;
+                    }
+
+                    blkCnt = numCols >> 2;
+                    while (blkCnt > 0U)
+                    {
+                        f32x4_t vec1, vec2;
+
+                        /*
+                         * Replace the element by the sum of that row
+                         * and a multiple of the reference row
+                         */
+                        vec1 = vldrwq_f32(pOutT1);
+                        vec2 = vldrwq_f32(pPRT_pDst);
+                        vec1 = vfmsq_f32(vec1, tmpV, vec2);
+                        vstrwq_f32(pOutT1, vec1);
+                        pPRT_pDst += 4;
+                        pOutT1 += 4;
+                        /*
+                         * Decrement the blockSize loop counter
+                         */
+                        blkCnt--;
+                    }
+                    /*
+                     * tail
+                     * (will be merged thru tail predication)
+                     */
+                    blkCnt = numCols & 3;
+                    if (blkCnt > 0U)
+                    {
+                        f32x4_t vec1, vec2;
+                        mve_pred16_t p0 = vctp32q(blkCnt);
+
+                        vec1 = vldrwq_f32(pOutT1);
+                        vec2 = vldrwq_f32(pPRT_pDst);
+                        vec1 = vfmsq_f32(vec1, tmpV, vec2);
+                        vstrwq_p_f32(pOutT1, vec1, p0);
+
+                        pInT2 += blkCnt;
+                        pOutT1 += blkCnt;
+                    }
+                }
+                /*
+                 * Increment the temporary input pointer
+                 */
+                pInT1 = pInT1 + l;
+            }
+            /*
+             * Increment the input pointer
+             */
+            pIn++;
+            /*
+             * Decrement the loop counter
+             */
+            loopCnt--;
+            /*
+             * Increment the index modifier
+             */
+            l++;
+        }
+
+        /*
+         * Set status as ARM_MATH_SUCCESS
+         */
+        status = ARM_MATH_SUCCESS;
+
+        if ((flag != 1U) && (in == 0.0f))
+        {
+            pIn = pSrc->pData;
+            for (i = 0; i < numRows * numCols; i++)
+            {
+                if (pIn[i] != 0.0f)
+                    break;
+            }
+
+            if (i == numRows * numCols)
+                status = ARM_MATH_SINGULAR;
+        }
+  }
+  /* Return to application */
+  return (status);
+}
+
+#else
+#if defined(ARM_MATH_NEON)
+arm_status arm_mat_inverse_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 *pInT1, *pInT2;                      /* Temporary input data matrix pointer */
+  float32_t *pOutT1, *pOutT2;                    /* Temporary output data matrix pointer */
+  float32_t *pPivotRowIn, *pPRT_in, *pPivotRowDst, *pPRT_pDst;  /* Temporary input and output data matrix pointer */
+  uint32_t numRows = pSrc->numRows;              /* Number of rows in the matrix  */
+  uint32_t numCols = pSrc->numCols;              /* Number of Cols in the matrix  */
+
+
+  float32_t Xchg, in = 0.0f, in1;                /* Temporary input values  */
+  uint32_t i, rowCnt, flag = 0U, j, loopCnt, k, l;      /* loop counters */
+  arm_status status;                             /* status of matrix inverse */
+  float32x4_t vec1;
+  float32x4_t vec2;
+  float32x4_t tmpV;
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pSrc->numCols) || (pDst->numRows != pDst->numCols)
+     || (pSrc->numRows != pDst->numRows))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+
+  {
+   /*--------------------------------------------------------------------------------------------------------------
+   * Matrix Inverse can be solved using elementary row operations.
+   *
+   *  Gauss-Jordan Method:
+   *
+   *     1. First combine the identity matrix and the input matrix separated by a bar to form an
+   *        augmented matrix as follows:
+   *              _                  _         _         _
+   *             |  a11  a12 | 1   0  |       |  X11 X12  |
+   *             |           |        |   =   |           |
+   *             |_ a21  a22 | 0   1 _|       |_ X21 X21 _|
+   *
+   *    2. In our implementation, pDst Matrix is used as identity matrix.
+   *
+   *    3. Begin with the first row. Let i = 1.
+   *
+   *    4. Check to see if the pivot for row i is zero.
+   *       The pivot is the element of the main diagonal that is on the current row.
+   *       For instance, if working with row i, then the pivot element is aii.
+   *       If the pivot is zero, exchange that row with a row below it that does not
+   *       contain a zero in column i. If this is not possible, then an inverse
+   *       to that matrix does not exist.
+   *
+   *      5. Divide every element of row i by the pivot.
+   *
+   *      6. For every row below and  row i, replace that row with the sum of that row and
+   *       a multiple of row i so that each new element in column i below row i is zero.
+   *
+   *      7. Move to the next row and column and repeat steps 2 through 5 until you have zeros
+   *       for every element below and above the main diagonal.
+   *
+   *    8. Now an identical matrix is formed to the left of the bar(input matrix, pSrc).
+   *       Therefore, the matrix to the right of the bar is our solution(pDst matrix, pDst).
+   *----------------------------------------------------------------------------------------------------------------*/
+
+    /* Working pointer for destination matrix */
+    pOutT1 = pOut;
+
+    /* Loop over the number of rows */
+    rowCnt = numRows;
+
+    /* Making the destination matrix as identity matrix */
+    while (rowCnt > 0U)
+    {
+      /* Writing all zeroes in lower triangle of the destination matrix */
+      j = numRows - rowCnt;
+      while (j > 0U)
+      {
+        *pOutT1++ = 0.0f;
+        j--;
+      }
+
+      /* Writing all ones in the diagonal of the destination matrix */
+      *pOutT1++ = 1.0f;
+
+      /* Writing all zeroes in upper triangle of the destination matrix */
+      j = rowCnt - 1U;
+
+      while (j > 0U)
+      {
+        *pOutT1++ = 0.0f;
+        j--;
+      }
+
+      /* Decrement the loop counter */
+      rowCnt--;
+    }
+
+    /* Loop over the number of columns of the input matrix.
+       All the elements in each column are processed by the row operations */
+    loopCnt = numCols;
+
+    /* Index modifier to navigate through the columns */
+    l = 0U;
+
+    while (loopCnt > 0U)
+    {
+      /* Check if the pivot element is zero..
+       * If it is zero then interchange the row with non zero row below.
+       * If there is no non zero element to replace in the rows below,
+       * then the matrix is Singular. */
+
+      /* Working pointer for the input matrix that points
+       * to the pivot element of the particular row  */
+      pInT1 = pIn + (l * numCols);
+
+      /* Working pointer for the destination matrix that points
+       * to the pivot element of the particular row  */
+      pOutT1 = pOut + (l * numCols);
+
+      /* Temporary variable to hold the pivot value */
+      in = *pInT1;
+
+      /* Check if the pivot element is zero */
+      if (*pInT1 == 0.0f)
+      {
+        /* Loop over the number rows present below */
+        for (i = 1U; i < numRows - l; i++)
+        {
+          /* Update the input and destination pointers */
+          pInT2 = pInT1 + (numCols * i);
+          pOutT2 = pOutT1 + (numCols * i);
+
+          /* Check if there is a non zero pivot element to
+           * replace in the rows below */
+          if (*pInT2 != 0.0f)
+          {
+            /* Loop over number of columns
+             * to the right of the pilot element */
+            j = numCols - l;
+
+            while (j > 0U)
+            {
+              /* Exchange the row elements of the input matrix */
+              Xchg = *pInT2;
+              *pInT2++ = *pInT1;
+              *pInT1++ = Xchg;
+
+              /* Decrement the loop counter */
+              j--;
+            }
+
+            /* Loop over number of columns of the destination matrix */
+            j = numCols;
+
+            while (j > 0U)
+            {
+              /* Exchange the row elements of the destination matrix */
+              Xchg = *pOutT2;
+              *pOutT2++ = *pOutT1;
+              *pOutT1++ = Xchg;
+
+              /* Decrement the loop counter */
+              j--;
+            }
+
+            /* Flag to indicate whether exchange is done or not */
+            flag = 1U;
+
+            /* Break after exchange is done */
+            break;
+          }
+
+         
+        }
+      }
+
+      /* Update the status if the matrix is singular */
+      if ((flag != 1U) && (in == 0.0f))
+      {
+        return ARM_MATH_SINGULAR;
+      }
+
+      /* Points to the pivot row of input and destination matrices */
+      pPivotRowIn = pIn + (l * numCols);
+      pPivotRowDst = pOut + (l * numCols);
+
+      /* Temporary pointers to the pivot row pointers */
+      pInT1 = pPivotRowIn;
+      pInT2 = pPivotRowDst;
+
+      /* Pivot element of the row */
+      in = *pPivotRowIn;
+      tmpV = vdupq_n_f32(1.0f/in);
+
+      /* Loop over number of columns
+       * to the right of the pilot element */
+      j = (numCols - l) >> 2;
+
+      while (j > 0U)
+      {
+        /* Divide each element of the row of the input matrix
+         * by the pivot element */
+        vec1 = vld1q_f32(pInT1);
+
+        vec1 = vmulq_f32(vec1, tmpV);
+        vst1q_f32(pInT1, vec1);
+        pInT1 += 4;
+
+        /* Decrement the loop counter */
+        j--;
+      }
+
+      /* Tail */
+      j = (numCols - l) & 3;
+
+      while (j > 0U)
+      {
+        /* Divide each element of the row of the input matrix
+         * by the pivot element */
+        in1 = *pInT1;
+        *pInT1++ = in1 / in;
+
+        /* Decrement the loop counter */
+        j--;
+      }
+
+      /* Loop over number of columns of the destination matrix */
+      j = numCols >> 2;
+
+      while (j > 0U)
+      {
+        /* Divide each element of the row of the destination matrix
+         * by the pivot element */
+        vec1 = vld1q_f32(pInT2);
+
+        vec1 = vmulq_f32(vec1, tmpV);
+        vst1q_f32(pInT2, vec1);
+        pInT2 += 4;
+      
+        /* Decrement the loop counter */
+        j--;
+      }
+
+      /* Tail */
+      j = numCols & 3;
+
+      while (j > 0U)
+      {
+        /* Divide each element of the row of the destination matrix
+         * by the pivot element */
+        in1 = *pInT2;
+        *pInT2++ = in1 / in;
+
+        /* Decrement the loop counter */
+        j--;
+      }
+
+      /* Replace the rows with the sum of that row and a multiple of row i
+       * so that each new element in column i above row i is zero.*/
+
+      /* Temporary pointers for input and destination matrices */
+      pInT1 = pIn;
+      pInT2 = pOut;
+
+      /* index used to check for pivot element */
+      i = 0U;
+
+      /* Loop over number of rows */
+      /*  to be replaced by the sum of that row and a multiple of row i */
+      k = numRows;
+
+      while (k > 0U)
+      {
+        /* Check for the pivot element */
+        if (i == l)
+        {
+          /* If the processing element is the pivot element,
+             only the columns to the right are to be processed */
+          pInT1 += numCols - l;
+
+          pInT2 += numCols;
+        }
+        else
+        {
+          /* Element of the reference row */
+          in = *pInT1;
+          tmpV = vdupq_n_f32(in);
+
+          /* Working pointers for input and destination pivot rows */
+          pPRT_in = pPivotRowIn;
+          pPRT_pDst = pPivotRowDst;
+
+          /* Loop over the number of columns to the right of the pivot element,
+             to replace the elements in the input matrix */
+          j = (numCols - l) >> 2;
+	  
+          while (j > 0U)
+          {
+            /* Replace the element by the sum of that row
+               and a multiple of the reference row  */
+            vec1 = vld1q_f32(pInT1);
+            vec2 = vld1q_f32(pPRT_in);
+            vec1 = vmlsq_f32(vec1, tmpV, vec2);
+            vst1q_f32(pInT1, vec1);
+            pPRT_in += 4;
+            pInT1 += 4;
+
+            /* Decrement the loop counter */
+            j--;
+          }
+
+	  /* Tail */
+          j = (numCols - l) & 3;
+
+          while (j > 0U)
+          {
+            /* Replace the element by the sum of that row
+               and a multiple of the reference row  */
+            in1 = *pInT1;
+            *pInT1++ = in1 - (in * *pPRT_in++);
+
+            /* Decrement the loop counter */
+            j--;
+          }
+
+          /* Loop over the number of columns to
+             replace the elements in the destination matrix */
+          j = numCols >> 2;
+
+          while (j > 0U)
+          {
+            /* Replace the element by the sum of that row
+               and a multiple of the reference row  */
+            vec1 = vld1q_f32(pInT2);
+            vec2 = vld1q_f32(pPRT_pDst);
+            vec1 = vmlsq_f32(vec1, tmpV, vec2);
+            vst1q_f32(pInT2, vec1);
+            pPRT_pDst += 4;
+            pInT2 += 4;
+
+            /* Decrement the loop counter */
+            j--;
+          }
+
+	  /* Tail */
+          j = numCols & 3;
+
+          while (j > 0U)
+          {
+            /* Replace the element by the sum of that row
+               and a multiple of the reference row  */
+            in1 = *pInT2;
+            *pInT2++ = in1 - (in * *pPRT_pDst++);
+
+            /* Decrement the loop counter */
+            j--;
+          }
+
+        }
+
+        /* Increment the temporary input pointer */
+        pInT1 = pInT1 + l;
+
+        /* Decrement the loop counter */
+        k--;
+
+        /* Increment the pivot index */
+        i++;
+      }
+
+      /* Increment the input pointer */
+      pIn++;
+
+      /* Decrement the loop counter */
+      loopCnt--;
+
+      /* Increment the index modifier */
+      l++;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+
+    if ((flag != 1U) && (in == 0.0f))
+    {
+      pIn = pSrc->pData;
+      for (i = 0; i < numRows * numCols; i++)
+      {
+        if (pIn[i] != 0.0f)
+            break;
+      }
+
+      if (i == numRows * numCols)
+        status = ARM_MATH_SINGULAR;
+    }
+  }
+  /* Return to application */
+  return (status);
+}
+#else
+arm_status arm_mat_inverse_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 *pInT1, *pInT2;                      /* Temporary input data matrix pointer */
+  float32_t *pOutT1, *pOutT2;                    /* Temporary output data matrix pointer */
+  float32_t *pPivotRowIn, *pPRT_in, *pPivotRowDst, *pPRT_pDst;  /* Temporary input and output data matrix pointer */
+  uint32_t numRows = pSrc->numRows;              /* Number of rows in the matrix  */
+  uint32_t numCols = pSrc->numCols;              /* Number of Cols in the matrix  */
+
+#if defined (ARM_MATH_DSP)
+
+  float32_t Xchg, in = 0.0f, in1;                /* Temporary input values  */
+  uint32_t i, rowCnt, flag = 0U, j, loopCnt, k,l;      /* loop counters */
+  arm_status status;                             /* status of matrix inverse */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pSrc->numCols) ||
+      (pDst->numRows != pDst->numCols) ||
+      (pSrc->numRows != pDst->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+
+    /*--------------------------------------------------------------------------------------------------------------
+     * Matrix Inverse can be solved using elementary row operations.
+     *
+     *  Gauss-Jordan Method:
+     *
+     *      1. First combine the identity matrix and the input matrix separated by a bar to form an
+     *        augmented matrix as follows:
+     *                      _                  _         _         _
+     *                     |  a11  a12 | 1   0  |       |  X11 X12  |
+     *                     |           |        |   =   |           |
+     *                     |_ a21  a22 | 0   1 _|       |_ X21 X21 _|
+     *
+     *      2. In our implementation, pDst Matrix is used as identity matrix.
+     *
+     *      3. Begin with the first row. Let i = 1.
+     *
+     *      4. Check to see if the pivot for row i is zero.
+     *         The pivot is the element of the main diagonal that is on the current row.
+     *         For instance, if working with row i, then the pivot element is aii.
+     *         If the pivot is zero, exchange that row with a row below it that does not
+     *         contain a zero in column i. If this is not possible, then an inverse
+     *         to that matrix does not exist.
+     *
+     *      5. Divide every element of row i by the pivot.
+     *
+     *      6. For every row below and  row i, replace that row with the sum of that row and
+     *         a multiple of row i so that each new element in column i below row i is zero.
+     *
+     *      7. Move to the next row and column and repeat steps 2 through 5 until you have zeros
+     *         for every element below and above the main diagonal.
+     *
+     *      8. Now an identical matrix is formed to the left of the bar(input matrix, pSrc).
+     *         Therefore, the matrix to the right of the bar is our solution(pDst matrix, pDst).
+     *----------------------------------------------------------------------------------------------------------------*/
+
+    /* Working pointer for destination matrix */
+    pOutT1 = pOut;
+
+    /* Loop over the number of rows */
+    rowCnt = numRows;
+
+    /* Making the destination matrix as identity matrix */
+    while (rowCnt > 0U)
+    {
+      /* Writing all zeroes in lower triangle of the destination matrix */
+      j = numRows - rowCnt;
+      while (j > 0U)
+      {
+        *pOutT1++ = 0.0f;
+        j--;
+      }
+
+      /* Writing all ones in the diagonal of the destination matrix */
+      *pOutT1++ = 1.0f;
+
+      /* Writing all zeroes in upper triangle of the destination matrix */
+      j = rowCnt - 1U;
+      while (j > 0U)
+      {
+        *pOutT1++ = 0.0f;
+        j--;
+      }
+
+      /* Decrement loop counter */
+      rowCnt--;
+    }
+
+    /* Loop over the number of columns of the input matrix.
+       All the elements in each column are processed by the row operations */
+    loopCnt = numCols;
+
+    /* Index modifier to navigate through the columns */
+    l = 0U;
+
+    while (loopCnt > 0U)
+    {
+      /* Check if the pivot element is zero..
+       * If it is zero then interchange the row with non zero row below.
+       * If there is no non zero element to replace in the rows below,
+       * then the matrix is Singular. */
+
+      /* Working pointer for the input matrix that points
+       * to the pivot element of the particular row  */
+      pInT1 = pIn + (l * numCols);
+
+      /* Working pointer for the destination matrix that points
+       * to the pivot element of the particular row  */
+      pOutT1 = pOut + (l * numCols);
+
+      /* Temporary variable to hold the pivot value */
+      in = *pInT1;
+
+    
+
+      /* Check if the pivot element is zero */
+      if (*pInT1 == 0.0f)
+      {
+        /* Loop over the number rows present below */
+
+        for (i = 1U; i < numRows - l; i++)
+        {
+          /* Update the input and destination pointers */
+          pInT2 = pInT1 + (numCols * i);
+          pOutT2 = pOutT1 + (numCols * i);
+
+          /* Check if there is a non zero pivot element to
+           * replace in the rows below */
+          if (*pInT2 != 0.0f)
+          {
+            /* Loop over number of columns
+             * to the right of the pilot element */
+            j = numCols - l;
+
+            while (j > 0U)
+            {
+              /* Exchange the row elements of the input matrix */
+              Xchg = *pInT2;
+              *pInT2++ = *pInT1;
+              *pInT1++ = Xchg;
+
+              /* Decrement the loop counter */
+              j--;
+            }
+
+            /* Loop over number of columns of the destination matrix */
+            j = numCols;
+
+            while (j > 0U)
+            {
+              /* Exchange the row elements of the destination matrix */
+              Xchg = *pOutT2;
+              *pOutT2++ = *pOutT1;
+              *pOutT1++ = Xchg;
+
+              /* Decrement loop counter */
+              j--;
+            }
+
+            /* Flag to indicate whether exchange is done or not */
+            flag = 1U;
+
+            /* Break after exchange is done */
+            break;
+          }
+
+
+          /* Decrement loop counter */
+        }
+      }
+
+      /* Update the status if the matrix is singular */
+      if ((flag != 1U) && (in == 0.0f))
+      {
+        return ARM_MATH_SINGULAR;
+      }
+
+      /* Points to the pivot row of input and destination matrices */
+      pPivotRowIn = pIn + (l * numCols);
+      pPivotRowDst = pOut + (l * numCols);
+
+      /* Temporary pointers to the pivot row pointers */
+      pInT1 = pPivotRowIn;
+      pInT2 = pPivotRowDst;
+
+      /* Pivot element of the row */
+      in = *pPivotRowIn;
+
+      /* Loop over number of columns
+       * to the right of the pilot element */
+      j = (numCols - l);
+
+      while (j > 0U)
+      {
+        /* Divide each element of the row of the input matrix
+         * by the pivot element */
+        in1 = *pInT1;
+        *pInT1++ = in1 / in;
+
+        /* Decrement the loop counter */
+        j--;
+      }
+
+      /* Loop over number of columns of the destination matrix */
+      j = numCols;
+
+      while (j > 0U)
+      {
+        /* Divide each element of the row of the destination matrix
+         * by the pivot element */
+        in1 = *pInT2;
+        *pInT2++ = in1 / in;
+
+        /* Decrement the loop counter */
+        j--;
+      }
+
+      /* Replace the rows with the sum of that row and a multiple of row i
+       * so that each new element in column i above row i is zero.*/
+
+      /* Temporary pointers for input and destination matrices */
+      pInT1 = pIn;
+      pInT2 = pOut;
+
+      /* index used to check for pivot element */
+      i = 0U;
+
+      /* Loop over number of rows */
+      /*  to be replaced by the sum of that row and a multiple of row i */
+      k = numRows;
+
+      while (k > 0U)
+      {
+        /* Check for the pivot element */
+        if (i == l)
+        {
+          /* If the processing element is the pivot element,
+             only the columns to the right are to be processed */
+          pInT1 += numCols - l;
+
+          pInT2 += numCols;
+        }
+        else
+        {
+          /* Element of the reference row */
+          in = *pInT1;
+
+          /* Working pointers for input and destination pivot rows */
+          pPRT_in = pPivotRowIn;
+          pPRT_pDst = pPivotRowDst;
+
+          /* Loop over the number of columns to the right of the pivot element,
+             to replace the elements in the input matrix */
+          j = (numCols - l);
+
+          while (j > 0U)
+          {
+            /* Replace the element by the sum of that row
+               and a multiple of the reference row  */
+            in1 = *pInT1;
+            *pInT1++ = in1 - (in * *pPRT_in++);
+
+            /* Decrement the loop counter */
+            j--;
+          }
+
+          /* Loop over the number of columns to
+             replace the elements in the destination matrix */
+          j = numCols;
+
+          while (j > 0U)
+          {
+            /* Replace the element by the sum of that row
+               and a multiple of the reference row  */
+            in1 = *pInT2;
+            *pInT2++ = in1 - (in * *pPRT_pDst++);
+
+            /* Decrement loop counter */
+            j--;
+          }
+
+        }
+
+        /* Increment temporary input pointer */
+        pInT1 = pInT1 + l;
+
+        /* Decrement loop counter */
+        k--;
+
+        /* Increment pivot index */
+        i++;
+      }
+
+      /* Increment the input pointer */
+      pIn++;
+
+      /* Decrement the loop counter */
+      loopCnt--;
+
+      /* Increment the index modifier */
+      l++;
+    }
+
+
+#else
+
+  float32_t Xchg, in = 0.0f;                     /* Temporary input values  */
+  uint32_t i, rowCnt, flag = 0U, j, loopCnt, l;      /* loop counters */
+  arm_status status;                             /* status of matrix inverse */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pSrc->numCols) ||
+      (pDst->numRows != pDst->numCols) ||
+      (pSrc->numRows != pDst->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+
+    /*--------------------------------------------------------------------------------------------------------------
+     * Matrix Inverse can be solved using elementary row operations.
+     *
+     *  Gauss-Jordan Method:
+     *
+     *      1. First combine the identity matrix and the input matrix separated by a bar to form an
+     *        augmented matrix as follows:
+     *                      _  _          _     _      _   _         _         _
+     *                     |  |  a11  a12  | | | 1   0  |   |       |  X11 X12  |
+     *                     |  |            | | |        |   |   =   |           |
+     *                     |_ |_ a21  a22 _| | |_0   1 _|  _|       |_ X21 X21 _|
+     *
+     *      2. In our implementation, pDst Matrix is used as identity matrix.
+     *
+     *      3. Begin with the first row. Let i = 1.
+     *
+     *      4. Check to see if the pivot for row i is zero.
+     *         The pivot is the element of the main diagonal that is on the current row.
+     *         For instance, if working with row i, then the pivot element is aii.
+     *         If the pivot is zero, exchange that row with a row below it that does not
+     *         contain a zero in column i. If this is not possible, then an inverse
+     *         to that matrix does not exist.
+     *
+     *      5. Divide every element of row i by the pivot.
+     *
+     *      6. For every row below and  row i, replace that row with the sum of that row and
+     *         a multiple of row i so that each new element in column i below row i is zero.
+     *
+     *      7. Move to the next row and column and repeat steps 2 through 5 until you have zeros
+     *         for every element below and above the main diagonal.
+     *
+     *      8. Now an identical matrix is formed to the left of the bar(input matrix, src).
+     *         Therefore, the matrix to the right of the bar is our solution(dst matrix, dst).
+     *----------------------------------------------------------------------------------------------------------------*/
+
+    /* Working pointer for destination matrix */
+    pOutT1 = pOut;
+
+    /* Loop over the number of rows */
+    rowCnt = numRows;
+
+    /* Making the destination matrix as identity matrix */
+    while (rowCnt > 0U)
+    {
+      /* Writing all zeroes in lower triangle of the destination matrix */
+      j = numRows - rowCnt;
+      while (j > 0U)
+      {
+        *pOutT1++ = 0.0f;
+        j--;
+      }
+
+      /* Writing all ones in the diagonal of the destination matrix */
+      *pOutT1++ = 1.0f;
+
+      /* Writing all zeroes in upper triangle of the destination matrix */
+      j = rowCnt - 1U;
+      while (j > 0U)
+      {
+        *pOutT1++ = 0.0f;
+        j--;
+      }
+
+      /* Decrement loop counter */
+      rowCnt--;
+    }
+
+    /* Loop over the number of columns of the input matrix.
+       All the elements in each column are processed by the row operations */
+    loopCnt = numCols;
+
+    /* Index modifier to navigate through the columns */
+    l = 0U;
+
+    while (loopCnt > 0U)
+    {
+      /* Check if the pivot element is zero..
+       * If it is zero then interchange the row with non zero row below.
+       * If there is no non zero element to replace in the rows below,
+       * then the matrix is Singular. */
+
+      /* Working pointer for the input matrix that points
+       * to the pivot element of the particular row  */
+      pInT1 = pIn + (l * numCols);
+
+      /* Working pointer for the destination matrix that points
+       * to the pivot element of the particular row  */
+      pOutT1 = pOut + (l * numCols);
+
+      /* Temporary variable to hold the pivot value */
+      in = *pInT1;
+
+      /* Check if the pivot element is zero */
+      if (*pInT1 == 0.0f)
+      {
+        /* Loop over the number rows present below */
+        for (i = 1U; i < numRows-l; i++)
+        {
+          /* Update the input and destination pointers */
+          pInT2 = pInT1 + (numCols * i);
+          pOutT2 = pOutT1 + (numCols * i);
+
+          /* Check if there is a non zero pivot element to
+           * replace in the rows below */
+          if (*pInT2 != 0.0f)
+          {
+            /* Loop over number of columns
+             * to the right of the pilot element */
+            for (j = 0U; j < (numCols - l); j++)
+            {
+              /* Exchange the row elements of the input matrix */
+              Xchg = *pInT2;
+              *pInT2++ = *pInT1;
+              *pInT1++ = Xchg;
+            }
+
+            for (j = 0U; j < numCols; j++)
+            {
+              Xchg = *pOutT2;
+              *pOutT2++ = *pOutT1;
+              *pOutT1++ = Xchg;
+            }
+
+            /* Flag to indicate whether exchange is done or not */
+            flag = 1U;
+
+            /* Break after exchange is done */
+            break;
+          }
+        }
+      }
+
+
+      /* Update the status if the matrix is singular */
+      if ((flag != 1U) && (in == 0.0f))
+      {
+        return ARM_MATH_SINGULAR;
+      }
+
+      /* Points to the pivot row of input and destination matrices */
+      pPivotRowIn = pIn + (l * numCols);
+      pPivotRowDst = pOut + (l * numCols);
+
+      /* Temporary pointers to the pivot row pointers */
+      pInT1 = pPivotRowIn;
+      pOutT1 = pPivotRowDst;
+
+      /* Pivot element of the row */
+      in = *(pIn + (l * numCols));
+
+      /* Loop over number of columns
+       * to the right of the pilot element */
+      for (j = 0U; j < (numCols - l); j++)
+      {
+        /* Divide each element of the row of the input matrix
+         * by the pivot element */
+        *pInT1 = *pInT1 / in;
+        pInT1++;
+      }
+      for (j = 0U; j < numCols; j++)
+      {
+        /* Divide each element of the row of the destination matrix
+         * by the pivot element */
+        *pOutT1 = *pOutT1 / in;
+        pOutT1++;
+      }
+
+      /* Replace the rows with the sum of that row and a multiple of row i
+       * so that each new element in column i above row i is zero.*/
+
+      /* Temporary pointers for input and destination matrices */
+      pInT1 = pIn;
+      pOutT1 = pOut;
+
+      for (i = 0U; i < numRows; i++)
+      {
+        /* Check for the pivot element */
+        if (i == l)
+        {
+          /* If the processing element is the pivot element,
+             only the columns to the right are to be processed */
+          pInT1 += numCols - l;
+          pOutT1 += numCols;
+        }
+        else
+        {
+          /* Element of the reference row */
+          in = *pInT1;
+
+          /* Working pointers for input and destination pivot rows */
+          pPRT_in = pPivotRowIn;
+          pPRT_pDst = pPivotRowDst;
+
+          /* Loop over the number of columns to the right of the pivot element,
+             to replace the elements in the input matrix */
+          for (j = 0U; j < (numCols - l); j++)
+          {
+            /* Replace the element by the sum of that row
+               and a multiple of the reference row  */
+            *pInT1 = *pInT1 - (in * *pPRT_in++);
+            pInT1++;
+          }
+
+          /* Loop over the number of columns to
+             replace the elements in the destination matrix */
+          for (j = 0U; j < numCols; j++)
+          {
+            /* Replace the element by the sum of that row
+               and a multiple of the reference row  */
+            *pOutT1 = *pOutT1 - (in * *pPRT_pDst++);
+            pOutT1++;
+          }
+
+        }
+
+        /* Increment temporary input pointer */
+        pInT1 = pInT1 + l;
+      }
+
+      /* Increment the input pointer */
+      pIn++;
+
+      /* Decrement the loop counter */
+      loopCnt--;
+
+      /* Increment the index modifier */
+      l++;
+    }
+
+#endif /* #if defined (ARM_MATH_DSP) */
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+
+    if ((flag != 1U) && (in == 0.0f))
+    {
+      pIn = pSrc->pData;
+      for (i = 0; i < numRows * numCols; i++)
+      {
+        if (pIn[i] != 0.0f)
+            break;
+      }
+
+      if (i == numRows * numCols)
+        status = ARM_MATH_SINGULAR;
+    }
+  }
+
+  /* Return to application */
+  return (status);
+}
+#endif /* #if defined(ARM_MATH_NEON) */
+#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
+
+/**
+  @} end of MatrixInv group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_inverse_f64.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_inverse_f64.c
new file mode 100644
index 0000000..bf99a79
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_inverse_f64.c
@@ -0,0 +1,644 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_inverse_f64.c
+ * Description:  Floating-point matrix inverse
+ *
+ * $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
+ */
+
+
+/**
+  @addtogroup MatrixInv
+  @{
+ */
+
+/**
+  @brief         Floating-point (64 bit) matrix inverse.
+  @param[in]     pSrc      points to input matrix structure. The source matrix is modified by the function.
+  @param[out]    pDst      points to output matrix structure
+  @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+                   - \ref ARM_MATH_SINGULAR      : Input matrix is found to be singular (non-invertible)
+ */
+
+arm_status arm_mat_inverse_f64(
+  const arm_matrix_instance_f64 * pSrc,
+        arm_matrix_instance_f64 * pDst)
+{
+  float64_t *pIn = pSrc->pData;                  /* input data matrix pointer */
+  float64_t *pOut = pDst->pData;                 /* output data matrix pointer */
+  float64_t *pInT1, *pInT2;                      /* Temporary input data matrix pointer */
+  float64_t *pOutT1, *pOutT2;                    /* Temporary output data matrix pointer */
+  float64_t *pPivotRowIn, *pPRT_in, *pPivotRowDst, *pPRT_pDst;  /* Temporary input and output data matrix pointer */
+  uint32_t numRows = pSrc->numRows;              /* Number of rows in the matrix  */
+  uint32_t numCols = pSrc->numCols;              /* Number of Cols in the matrix  */
+
+#if defined (ARM_MATH_DSP)
+
+  float64_t Xchg, in = 0.0, in1;                /* Temporary input values  */
+  uint32_t i, rowCnt, flag = 0U, j, loopCnt, k,l;      /* loop counters */
+  arm_status status;                             /* status of matrix inverse */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pSrc->numCols) ||
+      (pDst->numRows != pDst->numCols) ||
+      (pSrc->numRows != pDst->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+
+    /*--------------------------------------------------------------------------------------------------------------
+     * Matrix Inverse can be solved using elementary row operations.
+     *
+     *  Gauss-Jordan Method:
+     *
+     *      1. First combine the identity matrix and the input matrix separated by a bar to form an
+     *        augmented matrix as follows:
+     *                      _                  _         _         _
+     *                     |  a11  a12 | 1   0  |       |  X11 X12  |
+     *                     |           |        |   =   |           |
+     *                     |_ a21  a22 | 0   1 _|       |_ X21 X21 _|
+     *
+     *      2. In our implementation, pDst Matrix is used as identity matrix.
+     *
+     *      3. Begin with the first row. Let i = 1.
+     *
+     *      4. Check to see if the pivot for row i is zero.
+     *         The pivot is the element of the main diagonal that is on the current row.
+     *         For instance, if working with row i, then the pivot element is aii.
+     *         If the pivot is zero, exchange that row with a row below it that does not
+     *         contain a zero in column i. If this is not possible, then an inverse
+     *         to that matrix does not exist.
+     *
+     *      5. Divide every element of row i by the pivot.
+     *
+     *      6. For every row below and  row i, replace that row with the sum of that row and
+     *         a multiple of row i so that each new element in column i below row i is zero.
+     *
+     *      7. Move to the next row and column and repeat steps 2 through 5 until you have zeros
+     *         for every element below and above the main diagonal.
+     *
+     *      8. Now an identical matrix is formed to the left of the bar(input matrix, pSrc).
+     *         Therefore, the matrix to the right of the bar is our solution(pDst matrix, pDst).
+     *----------------------------------------------------------------------------------------------------------------*/
+
+    /* Working pointer for destination matrix */
+    pOutT1 = pOut;
+
+    /* Loop over the number of rows */
+    rowCnt = numRows;
+
+    /* Making the destination matrix as identity matrix */
+    while (rowCnt > 0U)
+    {
+      /* Writing all zeroes in lower triangle of the destination matrix */
+      j = numRows - rowCnt;
+      while (j > 0U)
+      {
+        *pOutT1++ = 0.0;
+        j--;
+      }
+
+      /* Writing all ones in the diagonal of the destination matrix */
+      *pOutT1++ = 1.0;
+
+      /* Writing all zeroes in upper triangle of the destination matrix */
+      j = rowCnt - 1U;
+      while (j > 0U)
+      {
+        *pOutT1++ = 0.0;
+        j--;
+      }
+
+      /* Decrement loop counter */
+      rowCnt--;
+    }
+
+    /* Loop over the number of columns of the input matrix.
+       All the elements in each column are processed by the row operations */
+    loopCnt = numCols;
+
+    /* Index modifier to navigate through the columns */
+    l = 0U;
+
+    while (loopCnt > 0U)
+    {
+      /* Check if the pivot element is zero..
+       * If it is zero then interchange the row with non zero row below.
+       * If there is no non zero element to replace in the rows below,
+       * then the matrix is Singular. */
+
+      /* Working pointer for the input matrix that points
+       * to the pivot element of the particular row  */
+      pInT1 = pIn + (l * numCols);
+
+      /* Working pointer for the destination matrix that points
+       * to the pivot element of the particular row  */
+      pOutT1 = pOut + (l * numCols);
+
+      /* Temporary variable to hold the pivot value */
+      in = *pInT1;
+
+    
+
+      /* Check if the pivot element is zero */
+      if (*pInT1 == 0.0)
+      {
+        /* Loop over the number rows present below */
+
+        for (i = 1U; i < numRows - l; i++)
+        {
+          /* Update the input and destination pointers */
+          pInT2 = pInT1 + (numCols * i);
+          pOutT2 = pOutT1 + (numCols * i);
+
+          /* Check if there is a non zero pivot element to
+           * replace in the rows below */
+          if (*pInT2 != 0.0)
+          {
+            /* Loop over number of columns
+             * to the right of the pilot element */
+            j = numCols - l;
+
+            while (j > 0U)
+            {
+              /* Exchange the row elements of the input matrix */
+              Xchg = *pInT2;
+              *pInT2++ = *pInT1;
+              *pInT1++ = Xchg;
+
+              /* Decrement the loop counter */
+              j--;
+            }
+
+            /* Loop over number of columns of the destination matrix */
+            j = numCols;
+
+            while (j > 0U)
+            {
+              /* Exchange the row elements of the destination matrix */
+              Xchg = *pOutT2;
+              *pOutT2++ = *pOutT1;
+              *pOutT1++ = Xchg;
+
+              /* Decrement loop counter */
+              j--;
+            }
+
+            /* Flag to indicate whether exchange is done or not */
+            flag = 1U;
+
+            /* Break after exchange is done */
+            break;
+          }
+
+
+          /* Decrement loop counter */
+        }
+      }
+
+      /* Update the status if the matrix is singular */
+      if ((flag != 1U) && (in == 0.0))
+      {
+        return ARM_MATH_SINGULAR;
+      }
+
+      /* Points to the pivot row of input and destination matrices */
+      pPivotRowIn = pIn + (l * numCols);
+      pPivotRowDst = pOut + (l * numCols);
+
+      /* Temporary pointers to the pivot row pointers */
+      pInT1 = pPivotRowIn;
+      pInT2 = pPivotRowDst;
+
+      /* Pivot element of the row */
+      in = *pPivotRowIn;
+
+      /* Loop over number of columns
+       * to the right of the pilot element */
+      j = (numCols - l);
+
+      while (j > 0U)
+      {
+        /* Divide each element of the row of the input matrix
+         * by the pivot element */
+        in1 = *pInT1;
+        *pInT1++ = in1 / in;
+
+        /* Decrement the loop counter */
+        j--;
+      }
+
+      /* Loop over number of columns of the destination matrix */
+      j = numCols;
+
+      while (j > 0U)
+      {
+        /* Divide each element of the row of the destination matrix
+         * by the pivot element */
+        in1 = *pInT2;
+        *pInT2++ = in1 / in;
+
+        /* Decrement the loop counter */
+        j--;
+      }
+
+      /* Replace the rows with the sum of that row and a multiple of row i
+       * so that each new element in column i above row i is zero.*/
+
+      /* Temporary pointers for input and destination matrices */
+      pInT1 = pIn;
+      pInT2 = pOut;
+
+      /* index used to check for pivot element */
+      i = 0U;
+
+      /* Loop over number of rows */
+      /*  to be replaced by the sum of that row and a multiple of row i */
+      k = numRows;
+
+      while (k > 0U)
+      {
+        /* Check for the pivot element */
+        if (i == l)
+        {
+          /* If the processing element is the pivot element,
+             only the columns to the right are to be processed */
+          pInT1 += numCols - l;
+
+          pInT2 += numCols;
+        }
+        else
+        {
+          /* Element of the reference row */
+          in = *pInT1;
+
+          /* Working pointers for input and destination pivot rows */
+          pPRT_in = pPivotRowIn;
+          pPRT_pDst = pPivotRowDst;
+
+          /* Loop over the number of columns to the right of the pivot element,
+             to replace the elements in the input matrix */
+          j = (numCols - l);
+
+          while (j > 0U)
+          {
+            /* Replace the element by the sum of that row
+               and a multiple of the reference row  */
+            in1 = *pInT1;
+            *pInT1++ = in1 - (in * *pPRT_in++);
+
+            /* Decrement the loop counter */
+            j--;
+          }
+
+          /* Loop over the number of columns to
+             replace the elements in the destination matrix */
+          j = numCols;
+
+          while (j > 0U)
+          {
+            /* Replace the element by the sum of that row
+               and a multiple of the reference row  */
+            in1 = *pInT2;
+            *pInT2++ = in1 - (in * *pPRT_pDst++);
+
+            /* Decrement loop counter */
+            j--;
+          }
+
+        }
+
+        /* Increment temporary input pointer */
+        pInT1 = pInT1 + l;
+
+        /* Decrement loop counter */
+        k--;
+
+        /* Increment pivot index */
+        i++;
+      }
+
+      /* Increment the input pointer */
+      pIn++;
+
+      /* Decrement the loop counter */
+      loopCnt--;
+
+      /* Increment the index modifier */
+      l++;
+    }
+
+
+#else
+
+  float64_t Xchg, in = 0.0;                     /* Temporary input values  */
+  uint32_t i, rowCnt, flag = 0U, j, loopCnt, l;      /* loop counters */
+  arm_status status;                             /* status of matrix inverse */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pSrc->numCols) ||
+      (pDst->numRows != pDst->numCols) ||
+      (pSrc->numRows != pDst->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+
+    /*--------------------------------------------------------------------------------------------------------------
+     * Matrix Inverse can be solved using elementary row operations.
+     *
+     *  Gauss-Jordan Method:
+     *
+     *      1. First combine the identity matrix and the input matrix separated by a bar to form an
+     *        augmented matrix as follows:
+     *                      _  _          _     _      _   _         _         _
+     *                     |  |  a11  a12  | | | 1   0  |   |       |  X11 X12  |
+     *                     |  |            | | |        |   |   =   |           |
+     *                     |_ |_ a21  a22 _| | |_0   1 _|  _|       |_ X21 X21 _|
+     *
+     *      2. In our implementation, pDst Matrix is used as identity matrix.
+     *
+     *      3. Begin with the first row. Let i = 1.
+     *
+     *      4. Check to see if the pivot for row i is zero.
+     *         The pivot is the element of the main diagonal that is on the current row.
+     *         For instance, if working with row i, then the pivot element is aii.
+     *         If the pivot is zero, exchange that row with a row below it that does not
+     *         contain a zero in column i. If this is not possible, then an inverse
+     *         to that matrix does not exist.
+     *
+     *      5. Divide every element of row i by the pivot.
+     *
+     *      6. For every row below and  row i, replace that row with the sum of that row and
+     *         a multiple of row i so that each new element in column i below row i is zero.
+     *
+     *      7. Move to the next row and column and repeat steps 2 through 5 until you have zeros
+     *         for every element below and above the main diagonal.
+     *
+     *      8. Now an identical matrix is formed to the left of the bar(input matrix, src).
+     *         Therefore, the matrix to the right of the bar is our solution(dst matrix, dst).
+     *----------------------------------------------------------------------------------------------------------------*/
+
+    /* Working pointer for destination matrix */
+    pOutT1 = pOut;
+
+    /* Loop over the number of rows */
+    rowCnt = numRows;
+
+    /* Making the destination matrix as identity matrix */
+    while (rowCnt > 0U)
+    {
+      /* Writing all zeroes in lower triangle of the destination matrix */
+      j = numRows - rowCnt;
+      while (j > 0U)
+      {
+        *pOutT1++ = 0.0;
+        j--;
+      }
+
+      /* Writing all ones in the diagonal of the destination matrix */
+      *pOutT1++ = 1.0;
+
+      /* Writing all zeroes in upper triangle of the destination matrix */
+      j = rowCnt - 1U;
+      while (j > 0U)
+      {
+        *pOutT1++ = 0.0;
+        j--;
+      }
+
+      /* Decrement loop counter */
+      rowCnt--;
+    }
+
+    /* Loop over the number of columns of the input matrix.
+       All the elements in each column are processed by the row operations */
+    loopCnt = numCols;
+
+    /* Index modifier to navigate through the columns */
+    l = 0U;
+
+    while (loopCnt > 0U)
+    {
+      /* Check if the pivot element is zero..
+       * If it is zero then interchange the row with non zero row below.
+       * If there is no non zero element to replace in the rows below,
+       * then the matrix is Singular. */
+
+      /* Working pointer for the input matrix that points
+       * to the pivot element of the particular row  */
+      pInT1 = pIn + (l * numCols);
+
+      /* Working pointer for the destination matrix that points
+       * to the pivot element of the particular row  */
+      pOutT1 = pOut + (l * numCols);
+
+      /* Temporary variable to hold the pivot value */
+      in = *pInT1;
+
+      /* Check if the pivot element is zero */
+      if (*pInT1 == 0.0)
+      {
+        /* Loop over the number rows present below */
+        for (i = 1U; i < numRows-l; i++)
+        {
+          /* Update the input and destination pointers */
+          pInT2 = pInT1 + (numCols * i);
+          pOutT2 = pOutT1 + (numCols * i);
+
+          /* Check if there is a non zero pivot element to
+           * replace in the rows below */
+          if (*pInT2 != 0.0)
+          {
+            /* Loop over number of columns
+             * to the right of the pilot element */
+            for (j = 0U; j < (numCols - l); j++)
+            {
+              /* Exchange the row elements of the input matrix */
+              Xchg = *pInT2;
+              *pInT2++ = *pInT1;
+              *pInT1++ = Xchg;
+            }
+
+            for (j = 0U; j < numCols; j++)
+            {
+              Xchg = *pOutT2;
+              *pOutT2++ = *pOutT1;
+              *pOutT1++ = Xchg;
+            }
+
+            /* Flag to indicate whether exchange is done or not */
+            flag = 1U;
+
+            /* Break after exchange is done */
+            break;
+          }
+        }
+      }
+
+
+      /* Update the status if the matrix is singular */
+      if ((flag != 1U) && (in == 0.0))
+      {
+        return ARM_MATH_SINGULAR;
+      }
+
+      /* Points to the pivot row of input and destination matrices */
+      pPivotRowIn = pIn + (l * numCols);
+      pPivotRowDst = pOut + (l * numCols);
+
+      /* Temporary pointers to the pivot row pointers */
+      pInT1 = pPivotRowIn;
+      pOutT1 = pPivotRowDst;
+
+      /* Pivot element of the row */
+      in = *(pIn + (l * numCols));
+
+      /* Loop over number of columns
+       * to the right of the pilot element */
+      for (j = 0U; j < (numCols - l); j++)
+      {
+        /* Divide each element of the row of the input matrix
+         * by the pivot element */
+        *pInT1 = *pInT1 / in;
+        pInT1++;
+      }
+      for (j = 0U; j < numCols; j++)
+      {
+        /* Divide each element of the row of the destination matrix
+         * by the pivot element */
+        *pOutT1 = *pOutT1 / in;
+        pOutT1++;
+      }
+
+      /* Replace the rows with the sum of that row and a multiple of row i
+       * so that each new element in column i above row i is zero.*/
+
+      /* Temporary pointers for input and destination matrices */
+      pInT1 = pIn;
+      pOutT1 = pOut;
+
+      for (i = 0U; i < numRows; i++)
+      {
+        /* Check for the pivot element */
+        if (i == l)
+        {
+          /* If the processing element is the pivot element,
+             only the columns to the right are to be processed */
+          pInT1 += numCols - l;
+          pOutT1 += numCols;
+        }
+        else
+        {
+          /* Element of the reference row */
+          in = *pInT1;
+
+          /* Working pointers for input and destination pivot rows */
+          pPRT_in = pPivotRowIn;
+          pPRT_pDst = pPivotRowDst;
+
+          /* Loop over the number of columns to the right of the pivot element,
+             to replace the elements in the input matrix */
+          for (j = 0U; j < (numCols - l); j++)
+          {
+            /* Replace the element by the sum of that row
+               and a multiple of the reference row  */
+            *pInT1 = *pInT1 - (in * *pPRT_in++);
+            pInT1++;
+          }
+
+          /* Loop over the number of columns to
+             replace the elements in the destination matrix */
+          for (j = 0U; j < numCols; j++)
+          {
+            /* Replace the element by the sum of that row
+               and a multiple of the reference row  */
+            *pOutT1 = *pOutT1 - (in * *pPRT_pDst++);
+            pOutT1++;
+          }
+
+        }
+
+        /* Increment temporary input pointer */
+        pInT1 = pInT1 + l;
+      }
+
+      /* Increment the input pointer */
+      pIn++;
+
+      /* Decrement the loop counter */
+      loopCnt--;
+
+      /* Increment the index modifier */
+      l++;
+    }
+
+#endif /* #if defined (ARM_MATH_DSP) */
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+
+    if ((flag != 1U) && (in == 0.0))
+    {
+      pIn = pSrc->pData;
+      for (i = 0; i < numRows * numCols; i++)
+      {
+        if (pIn[i] != 0.0)
+            break;
+      }
+
+      if (i == numRows * numCols)
+        status = ARM_MATH_SINGULAR;
+    }
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**
+  @} end of MatrixInv group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_ldlt_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_ldlt_f32.c
new file mode 100644
index 0000000..1d3586c
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_ldlt_f32.c
@@ -0,0 +1,509 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_ldl_f32.c
+ * Description:  Floating-point LDL decomposition
+ *
+ * $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_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+
+/// @private
+#define SWAP_ROWS_F32(A,i,j)                 \
+  {                                      \
+    int cnt = n;                         \
+                                         \
+    for(int w=0;w < n; w+=4)             \
+    {                                    \
+       f32x4_t tmpa,tmpb;                \
+       mve_pred16_t p0 = vctp32q(cnt);   \
+                                         \
+       tmpa=vldrwq_z_f32(&A[i*n + w],p0);\
+       tmpb=vldrwq_z_f32(&A[j*n + w],p0);\
+                                         \
+       vstrwq_p(&A[i*n + w], tmpb, p0);  \
+       vstrwq_p(&A[j*n + w], tmpa, p0);  \
+                                         \
+       cnt -= 4;                         \
+    }                                    \
+  }
+
+/// @private
+#define SWAP_COLS_F32(A,i,j)     \
+  for(int w=0;w < n; w++)    \
+  {                          \
+     float32_t tmp;          \
+     tmp = A[w*n + i];       \
+     A[w*n + i] = A[w*n + j];\
+     A[w*n + j] = tmp;       \
+  }
+
+/**
+  @ingroup groupMatrix
+ */
+
+/**
+  @addtogroup MatrixChol
+  @{
+ */
+
+/**
+   * @brief Floating-point LDL^t decomposition of positive semi-definite matrix.
+   * @param[in]  pSrc   points to the instance of the input floating-point matrix structure.
+   * @param[out] pl   points to the instance of the output floating-point triangular matrix structure.
+   * @param[out] pd   points to the instance of the output floating-point diagonal matrix structure.
+   * @param[out] pp   points to the instance of the output floating-point permutation vector.
+   * @return The function returns ARM_MATH_SIZE_MISMATCH, if the dimensions do not match.
+   * @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+                   - \ref ARM_MATH_DECOMPOSITION_FAILURE      : Input matrix cannot be decomposed
+   * @par
+   *  Computes the LDL^t decomposition of a matrix A such that P A P^t = L D L^t.
+   */
+arm_status arm_mat_ldlt_f32(
+  const arm_matrix_instance_f32 * pSrc,
+  arm_matrix_instance_f32 * pl,
+  arm_matrix_instance_f32 * pd,
+  uint16_t * pp)
+{
+
+  arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pSrc->numCols) ||
+      (pl->numRows != pl->numCols) ||
+      (pd->numRows != pd->numCols) ||
+      (pl->numRows != pd->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+
+    const int n=pSrc->numRows;
+    int fullRank = 1, diag,k;
+    float32_t *pA;
+
+    memset(pd->pData,0,sizeof(float32_t)*n*n);
+    memcpy(pl->pData,pSrc->pData,n*n*sizeof(float32_t));
+    pA = pl->pData;
+
+    int cnt = n;
+    uint16x8_t vecP;
+
+    for(int k=0;k < n; k+=8)
+    {
+      mve_pred16_t p0;
+      p0 = vctp16q(cnt);
+
+      vecP = vidupq_u16((uint16_t)k, 1);
+
+      vstrhq_p(&pp[k], vecP, p0);
+
+      cnt -= 8;
+    }
+
+
+    for(k=0;k < n; k++)
+    {
+        /* Find pivot */
+        float32_t m=F32_MIN,a;
+        int j=k;
+
+
+        for(int r=k;r<n;r++)
+        {
+           if (pA[r*n+r] > m)
+           {
+             m = pA[r*n+r];
+             j = r;
+           }
+        }
+
+        if(j != k)
+        {
+          SWAP_ROWS_F32(pA,k,j);
+          SWAP_COLS_F32(pA,k,j);
+        }
+
+
+        pp[k] = j;
+
+        a = pA[k*n+k];
+
+        if (fabsf(a) < 1.0e-8f)
+        {
+
+            fullRank = 0;
+            break;
+        }
+
+        float32_t invA;
+
+        invA = 1.0f / a;
+
+        int32x4_t vecOffs;
+        int w;
+        vecOffs = vidupq_u32((uint32_t)0, 1);
+        vecOffs = vmulq_n_s32(vecOffs,n);
+
+        for(w=k+1; w<n; w+=4)
+        {
+          int cnt = n - k - 1;
+
+          f32x4_t vecX;
+
+          f32x4_t vecA;
+          f32x4_t vecW0,vecW1, vecW2, vecW3;
+
+          mve_pred16_t p0;
+
+          vecW0 = vdupq_n_f32(pA[(w + 0)*n+k]);
+          vecW1 = vdupq_n_f32(pA[(w + 1)*n+k]);
+          vecW2 = vdupq_n_f32(pA[(w + 2)*n+k]);
+          vecW3 = vdupq_n_f32(pA[(w + 3)*n+k]);
+
+          for(int x=k+1;x<n;x += 4)
+          {
+             p0 = vctp32q(cnt);
+
+             //pA[w*n+x] = pA[w*n+x] - pA[w*n+k] * (pA[x*n+k] * invA);
+
+
+             vecX = vldrwq_gather_shifted_offset_z_f32(&pA[x*n+k], (uint32x4_t)vecOffs, p0);
+             vecX = vmulq_m_n_f32(vuninitializedq_f32(),vecX,invA,p0);
+
+
+             vecA = vldrwq_z_f32(&pA[(w + 0)*n+x],p0);
+             vecA = vfmsq_m(vecA, vecW0, vecX, p0);
+             vstrwq_p(&pA[(w + 0)*n+x], vecA, p0);
+
+             vecA = vldrwq_z_f32(&pA[(w + 1)*n+x],p0);
+             vecA = vfmsq_m(vecA, vecW1, vecX, p0);
+             vstrwq_p(&pA[(w + 1)*n+x], vecA, p0);
+
+             vecA = vldrwq_z_f32(&pA[(w + 2)*n+x],p0);
+             vecA = vfmsq_m(vecA, vecW2, vecX, p0);
+             vstrwq_p(&pA[(w + 2)*n+x], vecA, p0);
+
+             vecA = vldrwq_z_f32(&pA[(w + 3)*n+x],p0);
+             vecA = vfmsq_m(vecA, vecW3, vecX, p0);
+             vstrwq_p(&pA[(w + 3)*n+x], vecA, p0);
+
+             cnt -= 4;
+          }
+        }
+
+        for(; w<n; w++)
+        {
+          int cnt = n - k - 1;
+
+          f32x4_t vecA,vecX,vecW;
+
+
+          mve_pred16_t p0;
+
+          vecW = vdupq_n_f32(pA[w*n+k]);
+
+          for(int x=k+1;x<n;x += 4)
+          {
+             p0 = vctp32q(cnt);
+
+             //pA[w*n+x] = pA[w*n+x] - pA[w*n+k] * (pA[x*n+k] * invA);
+
+             vecA = vldrwq_z_f32(&pA[w*n+x],p0);
+
+             vecX = vldrwq_gather_shifted_offset_z_f32(&pA[x*n+k], (uint32x4_t)vecOffs, p0);
+             vecX = vmulq_m_n_f32(vuninitializedq_f32(),vecX,invA,p0);
+
+             vecA = vfmsq_m(vecA, vecW, vecX, p0);
+
+             vstrwq_p(&pA[w*n+x], vecA, p0);
+
+             cnt -= 4;
+          }
+        }
+
+        for(int w=k+1;w<n;w++)
+        {
+               pA[w*n+k] = pA[w*n+k] * invA;
+        }
+
+
+
+    }
+
+
+
+    diag=k;
+    if (!fullRank)
+    {
+      diag--;
+      for(int row=0; row < n;row++)
+      {
+        mve_pred16_t p0;
+        int cnt= n-k;
+        f32x4_t zero=vdupq_n_f32(0.0f);
+
+        for(int col=k; col < n;col += 4)
+        {
+           p0 = vctp32q(cnt);
+
+           vstrwq_p(&pl->pData[row*n+col], zero, p0);
+
+           cnt -= 4;
+        }
+      }
+    }
+
+    for(int row=0; row < n;row++)
+    {
+       mve_pred16_t p0;
+       int cnt= n-row-1;
+       f32x4_t zero=vdupq_n_f32(0.0f);
+
+       for(int col=row+1; col < n;col+=4)
+       {
+         p0 = vctp32q(cnt);
+
+         vstrwq_p(&pl->pData[row*n+col], zero, p0);
+
+         cnt -= 4;
+       }
+    }
+
+    for(int d=0; d < diag;d++)
+    {
+      pd->pData[d*n+d] = pl->pData[d*n+d];
+      pl->pData[d*n+d] = 1.0;
+    }
+
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+
+  /* Return to application */
+  return (status);
+}
+#else
+
+/// @private
+#define SWAP_ROWS_F32(A,i,j)     \
+  for(w=0;w < n; w++)    \
+  {                          \
+     float32_t tmp;          \
+     tmp = A[i*n + w];       \
+     A[i*n + w] = A[j*n + w];\
+     A[j*n + w] = tmp;       \
+  }
+
+/// @private
+#define SWAP_COLS_F32(A,i,j)     \
+  for(w=0;w < n; w++)    \
+  {                          \
+     float32_t tmp;          \
+     tmp = A[w*n + i];       \
+     A[w*n + i] = A[w*n + j];\
+     A[w*n + j] = tmp;       \
+  }
+
+/**
+  @ingroup groupMatrix
+ */
+
+/**
+  @addtogroup MatrixChol
+  @{
+ */
+
+/**
+   * @brief Floating-point LDL^t decomposition of positive semi-definite matrix.
+   * @param[in]  pSrc   points to the instance of the input floating-point matrix structure.
+   * @param[out] pl   points to the instance of the output floating-point triangular matrix structure.
+   * @param[out] pd   points to the instance of the output floating-point diagonal matrix structure.
+   * @param[out] pp   points to the instance of the output floating-point permutation vector.
+   * @return The function returns ARM_MATH_SIZE_MISMATCH, if the dimensions do not match.
+   * @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+                   - \ref ARM_MATH_DECOMPOSITION_FAILURE      : Input matrix cannot be decomposed
+   * @par
+   *  Computes the LDL^t decomposition of a matrix A such that P A P^t = L D L^t.
+   */
+arm_status arm_mat_ldlt_f32(
+  const arm_matrix_instance_f32 * pSrc,
+  arm_matrix_instance_f32 * pl,
+  arm_matrix_instance_f32 * pd,
+  uint16_t * pp)
+{
+
+  arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pSrc->numCols) ||
+      (pl->numRows != pl->numCols) ||
+      (pd->numRows != pd->numCols) ||
+      (pl->numRows != pd->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+
+    const int n=pSrc->numRows;
+    int fullRank = 1, diag,k;
+    float32_t *pA;
+    int row,d;
+
+    memset(pd->pData,0,sizeof(float32_t)*n*n);
+    memcpy(pl->pData,pSrc->pData,n*n*sizeof(float32_t));
+    pA = pl->pData;
+
+    for(k=0;k < n; k++)
+    {
+      pp[k] = k;
+    }
+
+
+    for(k=0;k < n; k++)
+    {
+        /* Find pivot */
+        float32_t m=F32_MIN,a;
+        int j=k;
+
+
+        int r;
+        int w;
+
+        for(r=k;r<n;r++)
+        {
+           if (pA[r*n+r] > m)
+           {
+             m = pA[r*n+r];
+             j = r;
+           }
+        }
+
+        if(j != k)
+        {
+          SWAP_ROWS_F32(pA,k,j);
+          SWAP_COLS_F32(pA,k,j);
+        }
+
+
+        pp[k] = j;
+
+        a = pA[k*n+k];
+
+        if (fabsf(a) < 1.0e-8f)
+        {
+
+            fullRank = 0;
+            break;
+        }
+
+        for(w=k+1;w<n;w++)
+        {
+          int x;
+          for(x=k+1;x<n;x++)
+          {
+             pA[w*n+x] = pA[w*n+x] - pA[w*n+k] * pA[x*n+k] / a;
+          }
+        }
+
+        for(w=k+1;w<n;w++)
+        {
+               pA[w*n+k] = pA[w*n+k] / a;
+        }
+
+
+
+    }
+
+
+
+    diag=k;
+    if (!fullRank)
+    {
+      diag--;
+      for(row=0; row < n;row++)
+      {
+        int col;
+        for(col=k; col < n;col++)
+        {
+           pl->pData[row*n+col]=0.0;
+        }
+      }
+    }
+
+    for(row=0; row < n;row++)
+    {
+       int col;
+       for(col=row+1; col < n;col++)
+       {
+         pl->pData[row*n+col] = 0.0;
+       }
+    }
+
+    for(d=0; d < diag;d++)
+    {
+      pd->pData[d*n+d] = pl->pData[d*n+d];
+      pl->pData[d*n+d] = 1.0;
+    }
+
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+
+  /* Return to application */
+  return (status);
+}
+#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
+
+/**
+  @} end of MatrixChol group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_ldlt_f64.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_ldlt_f64.c
new file mode 100644
index 0000000..8f7331d
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_ldlt_f64.c
@@ -0,0 +1,229 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_ldl_f64.c
+ * Description:  Floating-point LDL decomposition
+ *
+ * $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"
+#include <math.h>
+
+
+
+/// @private
+#define SWAP_ROWS_F64(A,i,j) \
+{                            \
+  int w;                     \
+  for(w=0;w < n; w++)        \
+  {                          \
+     float64_t tmp;          \
+     tmp = A[i*n + w];       \
+     A[i*n + w] = A[j*n + w];\
+     A[j*n + w] = tmp;       \
+  }                          \
+}
+
+/// @private
+#define SWAP_COLS_F64(A,i,j) \
+{                            \
+  int w;                     \
+  for(w=0;w < n; w++)        \
+  {                          \
+     float64_t tmp;          \
+     tmp = A[w*n + i];       \
+     A[w*n + i] = A[w*n + j];\
+     A[w*n + j] = tmp;       \
+  }                          \
+}
+
+/**
+  @ingroup groupMatrix
+ */
+
+/**
+  @addtogroup MatrixChol
+  @{
+ */
+
+/**
+   * @brief Floating-point LDL^t decomposition of positive semi-definite matrix.
+   * @param[in]  pSrc   points to the instance of the input floating-point matrix structure.
+   * @param[out] pl   points to the instance of the output floating-point triangular matrix structure.
+   * @param[out] pd   points to the instance of the output floating-point diagonal matrix structure.
+   * @param[out] pp   points to the instance of the output floating-point permutation vector.
+   * @return The function returns ARM_MATH_SIZE_MISMATCH, if the dimensions do not match.
+   * @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+                   - \ref ARM_MATH_DECOMPOSITION_FAILURE      : Input matrix cannot be decomposed
+   * @par
+   *  Computes the LDL^t decomposition of a matrix A such that P A P^t = L D L^t.
+   */
+
+arm_status arm_mat_ldlt_f64(
+  const arm_matrix_instance_f64 * pSrc,
+  arm_matrix_instance_f64 * pl,
+  arm_matrix_instance_f64 * pd,
+  uint16_t * pp)
+{
+
+  arm_status status;                             /* status of matrix inverse */
+ 
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pSrc->numCols) ||
+      (pl->numRows != pl->numCols) ||
+      (pd->numRows != pd->numCols) ||
+      (pl->numRows != pd->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+
+    const int n=pSrc->numRows;
+    int fullRank = 1, diag,k;
+    float64_t *pA;
+
+    memset(pd->pData,0,sizeof(float64_t)*n*n);
+
+    memcpy(pl->pData,pSrc->pData,n*n*sizeof(float64_t));
+    pA = pl->pData;
+
+    for(k=0;k < n; k++)
+    {
+      pp[k] = k;
+    }
+
+
+    for(k=0;k < n; k++)
+    {
+        /* Find pivot */
+        float64_t m=F64_MIN,a;
+        int w,r,j=k; 
+
+
+        for(r=k;r<n;r++)
+        {
+           if (pA[r*n+r] > m)
+           {
+             m = pA[r*n+r];
+             j = r;
+           }
+        }
+
+        if(j != k)
+        {
+          SWAP_ROWS_F64(pA,k,j);
+          SWAP_COLS_F64(pA,k,j);
+        }
+
+
+        pp[k] = j;
+
+        a = pA[k*n+k];
+
+        if (fabs(a) < 1.0e-18)
+        {
+
+            fullRank = 0;
+            break;
+        }
+
+        for(w=k+1;w<n;w++)
+        {
+          int x;
+          for(x=k+1;x<n;x++)
+          {
+             pA[w*n+x] = pA[w*n+x] - pA[w*n+k] * pA[x*n+k] / a;
+          }
+        }
+
+        for(w=k+1;w<n;w++)
+        {
+               pA[w*n+k] = pA[w*n+k] / a;
+        }
+
+        
+
+    }
+
+
+
+    diag=k;
+    if (!fullRank)
+    {
+      diag--;
+      {
+        int row;
+        for(row=0; row < n;row++)
+        {
+          int col;
+          for(col=k; col < n;col++)
+          {
+             pl->pData[row*n+col]=0.0;
+          }
+        }
+      }
+    }
+
+    {
+      int row;
+      for(row=0; row < n;row++)
+      {
+         int col;
+         for(col=row+1; col < n;col++)
+         {
+           pl->pData[row*n+col] = 0.0;
+         }
+      }
+    }
+
+    {
+      int d;
+      for(d=0; d < diag;d++)
+      {
+        pd->pData[d*n+d] = pl->pData[d*n+d];
+        pl->pData[d*n+d] = 1.0;
+      }
+    }
+  
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  
+  /* Return to application */
+  return (status);
+}
+
+/**
+  @} end of MatrixChol group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f16.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f16.c
new file mode 100644
index 0000000..3d3e820
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f16.c
@@ -0,0 +1,763 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_mult_f16.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_f16.h"
+
+#if defined(ARM_FLOAT16_SUPPORTED)
+
+
+/**
+ * @ingroup groupMatrix
+ */
+
+
+/**
+ * @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_MVE_FLOAT16) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+__STATIC_FORCEINLINE arm_status arm_mat_mult_f16_2x2_mve(
+    const arm_matrix_instance_f16 *pSrcA,
+    const arm_matrix_instance_f16 *pSrcB,
+    arm_matrix_instance_f16 *pDst)
+{
+    static const uint16_t offsetA[8] = { 0, 0, 2, 2, 0, 0, 2, 2 };
+    /* offsetB allows to read and duplicate 1 row of B */
+    static const uint16_t offsetB[8] = { 0, 1, 0, 1, 0, 1, 0, 1 };
+    uint16x8_t    vecOffsA, vecOffsB;
+    f16x8_t       vecInA, vecInB, vecDst;
+    float16_t      *pOut = pDst->pData;  /* output data matrix pointer */
+
+    /*
+     * load initial offsets
+     */
+    vecOffsA = vldrhq_u16((uint16_t const *) offsetA);
+    vecOffsB = vldrhq_u16((uint16_t const *) offsetB);
+    /*
+     * load {a00 a00 a10 a10 x x x x }
+     */
+    vecInA = vldrhq_gather_shifted_offset((float16_t const *) pSrcA->pData, vecOffsA);
+    /*
+     * load {b00 b01 b00 b01 x x x x }
+     */
+    vecInB = vldrhq_gather_shifted_offset((float16_t const *) pSrcB->pData, vecOffsB);
+    /*
+     *  { a00 b00       a00 b01
+     *    a10 b00       a10 b01
+     *       x             x
+     *       x             x   }
+     */
+    vecDst = vmulq(vecInA, vecInB);
+    /*
+     * move to 2nd column of matrix A
+     */
+    vecOffsA = vaddq_n_u16(vecOffsA, (uint16_t) 1);
+    /*
+     * load {a01 a01 a11 a11 x x x x}
+     */
+    vecInA = vldrhq_gather_shifted_offset((float16_t const *) pSrcA->pData, vecOffsA);
+    /*
+     * move to next B row
+     */
+    vecOffsB = vaddq_n_u16(vecOffsB, (uint16_t) 2);
+    /*
+     * load {b10, b11, b10, b11, x x x x }
+     */
+    vecInB = vldrhq_gather_shifted_offset((float16_t const *) pSrcB->pData, vecOffsB);
+    /*
+     *  { a00 b00 + a01 b10   a00 b01 + a01 b11
+     *    a10 b00 + a11 b10     a10 b01 + a11 b11
+     *             x                    x
+     *             x                    x       }
+     */
+    vecDst = vfmaq(vecDst, vecInA, vecInB);
+
+    mve_pred16_t p0 = vctp16q(2*2);
+    /*
+     * Store the result in the destination buffer
+     * (lower half of the vector)
+     */
+    vstrhq_p(pOut, vecDst, p0);
+
+    return (ARM_MATH_SUCCESS);
+}
+
+
+
+
+__STATIC_FORCEINLINE arm_status arm_mat_mult_f16_3x3_mve(
+    const arm_matrix_instance_f16 *pSrcA,
+    const arm_matrix_instance_f16 *pSrcB,
+    arm_matrix_instance_f16 *pDst)
+{
+    static const uint16_t offsetA[8] = { 0, 0, 0, 3, 3, 3, 6, 6 };
+    /* offsetB allows to read and duplicate 1 row of B */
+    static const uint16_t offsetB[8] = { 0, 1, 2, 0, 1, 2, 0, 1 };
+    uint16x8_t    vecOffsA, vecOffsB;
+    f16x8_t       vecInA, vecInB, vecDst;
+    float16_t      *pOut = pDst->pData;  /* output data matrix pointer */
+
+    /*
+     * load initial offsets
+     */
+    vecOffsA = vldrhq_u16((uint16_t const *) offsetA);
+    vecOffsB = vldrhq_u16((uint16_t const *) offsetB);
+
+    /*
+     * load {a00 a00 a00 a10 a10 a10 a20 a20}
+     */
+    vecInA = vldrhq_gather_shifted_offset((float16_t const *) pSrcA->pData, vecOffsA);
+    /*
+     * load {b00 b01 b02 b00 b01 b02 b00 b01}
+     */
+    vecInB = vldrhq_gather_shifted_offset((float16_t const *) pSrcB->pData, vecOffsB);
+    /*
+     *  { a00 b00       a00 b01     a00 b02
+     *    a10 b00       a10 b01     a10 b02
+     *    a20 b00       a20 b01}
+     */
+    vecDst = vmulq(vecInA, vecInB);
+
+    /*
+     * move to 2nd column of matrix A
+     */
+    vecOffsA = vaddq_n_u16(vecOffsA, (uint16_t) 1);
+    /*
+     * load {a01 a01 a01 a11 a11 a11 a21 a21}
+     */
+    vecInA = vldrhq_gather_shifted_offset((float16_t const *) pSrcA->pData, vecOffsA);
+    /*
+     * move to next B row
+     */
+    vecOffsB = vaddq_n_u16(vecOffsB, (uint16_t) 3);
+    /*
+     * load {b10, b11, b12, b10, b11, b12, b10, b11}
+     */
+    vecInB = vldrhq_gather_shifted_offset((float16_t const *) pSrcB->pData, vecOffsB);
+    /*
+     *  { a00 b00 + a01 b10   a00 b01 + a01 b11     a00 b02 + a01 b12
+     *    a10 b00 + a11 b10     a10 b01 + a11 b11     a10 b02 + a11 b12
+     *    a20 b00 + a21 b10     a20 b01 + a21 b11   }
+     */
+    vecDst = vfmaq(vecDst, vecInA, vecInB);
+    /*
+     * move to 3rd column of matrix A
+     */
+    vecOffsA = vaddq_n_u16(vecOffsA, (uint16_t) 1);
+    /*
+     * load {a02 a02 a02 a12 a12 a12 a22 a22}
+     */
+    vecInA = vldrhq_gather_shifted_offset((float16_t const *) pSrcA->pData, vecOffsA);
+    /*
+     * move to next B row
+     */
+    vecOffsB = vaddq_n_u16(vecOffsB, (uint16_t) 3);
+    /*
+     * load {b20, b21, b22, b20, b21, b22, b20, b21}
+     */
+    vecInB = vldrhq_gather_shifted_offset((float16_t const *) pSrcB->pData, vecOffsB);
+    /*
+     *  {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   }
+     */
+    vecDst = vfmaq(vecDst, vecInA, vecInB);
+
+    /*
+     * Store the result in the destination buffer
+     */
+    vst1q(pOut, vecDst); pOut += 8;
+
+    /* last element computed in scalar mode
+     * a20 b02 + a21 b12 + a22 b22
+     */
+    _Float16 * pA = (_Float16 *)pSrcA->pData;
+    _Float16 * pB = (_Float16 *)pSrcB->pData;
+    *pOut = pA[2*3] * pB[2] + pA[2*3+1] * pB[3+2] + pA[2*3+2] * pB[2*3+2];
+
+    return (ARM_MATH_SUCCESS);
+}
+
+
+
+
+
+__STATIC_FORCEINLINE arm_status arm_mat_mult_f16_4x4_mve(
+    const arm_matrix_instance_f16 *pSrcA,
+    const arm_matrix_instance_f16 *pSrcB,
+    arm_matrix_instance_f16 *pDst)
+{
+    /* offsetA allows to read and duplicate 2 successive column elements of A */
+    static const uint16_t offsetA[8] = { 0, 0, 0, 0, 4, 4, 4, 4 };
+    /* offsetB allows to read and duplicate 1 row of B */
+    static const uint16_t offsetB[8] = { 0, 1, 2, 3, 0, 1, 2, 3 };
+    uint16x8_t    vecOffsA, vecOffsB;
+    f16x8_t       vecInA, vecInB, vecDst0, vecDst1;
+    float16_t      *pOut = pDst->pData;  /* output data matrix pointer */
+
+    /*
+     * load initial offsets
+     */
+    vecOffsA = vldrhq_u16((uint16_t const *) offsetA);
+    vecOffsB = vldrhq_u16((uint16_t const *) offsetB);
+
+    /*
+     * load {a00 a00 a00 a00 a10 a10 a10 a10}
+     */
+    vecInA = vldrhq_gather_shifted_offset((float16_t const *) pSrcA->pData, vecOffsA);
+    /*
+     * load {b00 b01 b02 b03 b00 b01 b02 b03}
+     */
+    vecInB = vldrhq_gather_shifted_offset((float16_t const *) pSrcB->pData, vecOffsB);
+    /*
+     *  { a00 b00       a00 b01     a00 b02     a00 b03
+     *    a10 b00       a10 b01     a10 b02     a10 b03 }
+     */
+    vecDst0 = vmulq(vecInA, vecInB);
+    /*
+     * jump 2 x A rows (2nd half of matrix)
+     */
+    vecOffsA = vaddq_n_u16(vecOffsA, (uint16_t) 8);
+    /*
+     * load {a20 a20 a20 a20 a30 a30 a30 a30}
+     */
+    vecInA = vldrhq_gather_shifted_offset((float16_t const *) pSrcA->pData, vecOffsA);
+    /*
+     *  { a20 b00       a20 b01     a20 b02     a20 b03
+     *    a30 b00       a30 b01     a30 b02 +   a31 b12 }
+     */
+    vecDst1 = vmulq(vecInA, vecInB);
+    /*
+     * rewind back to top half of the A matrix (2nd column)
+     */
+    vecOffsA = vsubq(vecOffsA, (uint16_t) 7);
+    /*
+     * load {a01 a01 a01 a01 a11 a11 a11 a11}
+     */
+    vecInA = vldrhq_gather_shifted_offset((float16_t const *) pSrcA->pData, vecOffsA);
+    /*
+     * move to next B row
+     */
+    vecOffsB = vaddq_n_u16(vecOffsB, (uint16_t) 4);
+    /*
+     * load {b10, b11, b12, b13, b10, b11, b12, b13}
+     */
+    vecInB = vldrhq_gather_shifted_offset((float16_t const *) pSrcB->pData, vecOffsB);
+    /*
+     *  { a00 b00 + a01 b10         a00 b01 + a01 b11       a00 b02 + a01 b12       a00 b03 + a01 b13
+     *    a10 b00 + a11 b10         a10 b01 + a11 b11       a10 b02 + a11 b12       a10 b03 + a11 b13 }
+     */
+    vecDst0 = vfmaq(vecDst0, vecInA, vecInB);
+    /*
+     * jump 2 x A rows (2nd half of matrix)
+     */
+    vecOffsA = vaddq_n_u16(vecOffsA, (uint16_t) 8);
+    /*
+     * load {a21 a21 a21 a21 a31 a31 a31 a31}
+     */
+    vecInA = vldrhq_gather_shifted_offset((float16_t const *) pSrcA->pData, vecOffsA);
+    /*
+     *  {a20 b00 + a21 b10      a20 b01 + a21 b11       a20 b02 + a21 b12       a20 b03 + a21 b13
+     *   a30 b00 + a31 b10      a30 b01 + a31 b11       a30 b02 + a31 b12       a30 b03 + a31 b13 }
+     */
+    vecDst1 = vfmaq(vecDst1, vecInA, vecInB);
+
+    /*
+     * rewind back to top half of the A matrix (3rd column)
+     */
+    vecOffsA = vsubq(vecOffsA, (uint16_t) 7);
+    /*
+     * load {a02 a02 a02 a02 a12 a12 a12 a12}
+     */
+    vecInA = vldrhq_gather_shifted_offset((float16_t const *) pSrcA->pData, vecOffsA);
+    /*
+     * move to next B row
+     */
+    vecOffsB = vaddq_n_u16(vecOffsB, (uint16_t) 4);
+    /*
+     * load {b20, b21, b22, b23, b20, b21, b22, b23}
+     */
+    vecInB = vldrhq_gather_shifted_offset((float16_t const *) pSrcB->pData, vecOffsB);
+    /*
+     *  { a00 b00 + a01 b10 + a02 b20    a00 b01 + a01 b11 + a02 b21    a00 b02 + a01 b12 + a02 b22   a00 b03 + a01 b13 + a02 b23
+     *    a10 b00 + a11 b10 + a12 b20    a10 b01 + a11 b11 + a12 b21    a10 b02 + a11 b12 + a12 b22   a10 b03 + a11 b13 + a12 b23 }
+     */
+    vecDst0 = vfmaq(vecDst0, vecInA, vecInB);
+    /*
+     * jump 2 x A rows
+     */
+    vecOffsA = vaddq_n_u16(vecOffsA, (uint16_t) 8);
+
+    /*
+     * load {a22 a22 a22 a22 a32 a32 a32 a32}
+     */
+    vecInA = vldrhq_gather_shifted_offset((float16_t const *) pSrcA->pData, vecOffsA);
+    /*
+     *  {a20 b00 + a21 b10 + a22 b20   a20 b01 + a21 b11 + a22 b21  a20 b02 + a21 b12 + a22 b22    a20 b03 + a21 b13 + a22 b23
+     *   a30 b00 + a31 b10 + a32 b20   a30 b01 + a31 b11 + a32 b21  a30 b02 + a31 b12 + a32 b22    a30 b03 + a31 b13 + a32 b23 }
+     */
+    vecDst1 = vfmaq(vecDst1, vecInA, vecInB);
+
+    /*
+     * rewind back to top half of the A matrix (4th column)
+     */
+    vecOffsA = vsubq(vecOffsA, (uint16_t) 7);
+    /*
+     * load {a03 a03 a03 a03 a13 a13 a13 a13}
+     */
+    vecInA = vldrhq_gather_shifted_offset((float16_t const *) pSrcA->pData, vecOffsA);
+    /*
+     * move to next B row
+     */
+    vecOffsB = vaddq_n_u16(vecOffsB, (uint16_t) 4);
+    /*
+     * load {b30, b31, b32, b33, b30, b31, b32, b33}
+     */
+    vecInB = vldrhq_gather_shifted_offset((float16_t const *) pSrcB->pData, vecOffsB);
+    /*
+     * { a00 b00 +...+ a03 b30,    a00 b01 +...+ a03 b31,   a00 b02 +...+ a03 b32,   a00 b03 +...+ a03 b33
+     *   a10 b00 +...+ a13 b30,    a10 b01 +...+ a13 b31,   a10 b02 +...+ a13 b32,   a10 b03 +...+ a13 b33 }
+     */
+    vecDst0 = vfmaq(vecDst0, vecInA, vecInB);
+    /*
+     * jump 2 x A rows
+     */
+    vecOffsA = vaddq_n_u16(vecOffsA, (uint16_t) 8);
+    /*
+     * load {a23 a23 a23 a23 a33 a33 a33 a33}
+     */
+    vecInA = vldrhq_gather_shifted_offset((float16_t const *) pSrcA->pData, vecOffsA);
+    /*
+     *  {a20 b00 +...+ a23 b30,   a20 b01 +...+ a23 b31,   a20 b02 +...+ a23 b32,   a20 b03 +...+ a23 b33
+     *   a30 b00 +...+ a33 b30,   a30 b01 +...+ a33 b31,   a30 b02 +...+ a33 b32,   a30 b03 +...+ a33 b33 }
+     */
+    vecDst1 = vfmaq(vecDst1, vecInA, vecInB);
+
+    /*
+     * Store the result in the destination buffer
+     */
+    vst1q(pOut, vecDst0); pOut += 8;
+    vst1q(pOut, vecDst1);
+
+    return (ARM_MATH_SUCCESS);
+}
+
+
+arm_status arm_mat_mult_f16(
+  const arm_matrix_instance_f16 * pSrcA,
+  const arm_matrix_instance_f16 * pSrcB,
+  arm_matrix_instance_f16 * pDst)
+{
+       float16_t  *pInB = pSrcB->pData;        /* input data matrix pointer B */
+    float16_t  *pInA = pSrcA->pData;        /* input data matrix pointer A  */
+    float16_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 */
+    int         i;
+
+
+#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 */
+    return(ARM_MATH_SIZE_MISMATCH);
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+{
+    /* small squared matrix specialized routines */
+    if(numRowsA == numColsB && numColsB == numColsA) {
+        if(numRowsA == 2)
+            return arm_mat_mult_f16_2x2_mve(pSrcA, pSrcB, pDst);
+        else if(numRowsA == 3)
+            return arm_mat_mult_f16_3x3_mve(pSrcA, pSrcB, pDst);
+        else if(numRowsA == 4)
+            return arm_mat_mult_f16_4x4_mve(pSrcA, pSrcB, pDst);
+    }
+
+    /* main loop process 4 rows */
+    i = numRowsA / 4;
+    while(i > 0)
+    {
+        float16_t   *pInA0, *pInA1, *pInA2, *pInA3;
+        float16_t   *pInB0;
+        float16_t   *pOut0, *pOut1, *pOut2, *pOut3;
+        f16x8_t    vecMac0, vecMac1, vecMac2, vecMac3;
+        f16x8_t    vecInB;
+
+        /* pointers to 4 consecutive output rows */
+        pOut0 = pOut;
+        pOut1 = pOut0 + numColsB;
+        pOut2 = pOut1 + numColsB;
+        pOut3 = pOut2 + numColsB;
+        pInB0 = pInB;
+
+        int       k = numColsB >> 3;
+        while(k > 0)
+        {
+            /* pointers to 4 consecutive Matrix A rows */
+            pInA0 = pInA;
+            pInA1 = pInA0 + numColsA;
+            pInA2 = pInA1 + numColsA;
+            pInA3 = pInA2 + numColsA;
+
+            vecMac0 = vdupq_n_f16(0.0f16);
+            vecMac1 = vdupq_n_f16(0.0f16);
+            vecMac2 = vdupq_n_f16(0.0f16);
+            vecMac3 = vdupq_n_f16(0.0f16);
+
+            blkCnt = numColsA;
+
+            while (blkCnt > 0U)
+            {
+                /*
+                 * load {bi,4n+0, bi,4n+1, bi,4n+2, bi,4n+3..., bi,4n+7}
+                 */
+                vecInB = *(f16x8_t *)pInB0; /* vldrhq_f16(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 8 block) in the destination buffer */
+            vst1q(pOut0, vecMac0);  pOut0 += 8;
+            vst1q(pOut1, vecMac1);  pOut1 += 8;
+            vst1q(pOut2, vecMac2);  pOut2 += 8;
+            vst1q(pOut3, vecMac3);  pOut3 += 8;
+            /*
+             * rewind
+             */
+            pInB0 -= (numColsB * numColsA) - 8;
+            k--;
+        }
+
+        int       colBLeft = numColsB & 7;
+        if (colBLeft)
+        {
+            pInA0 = pInA;
+            pInA1 = pInA0 + numColsA;
+            pInA2 = pInA1 + numColsA;
+            pInA3 = pInA2 + numColsA;
+            mve_pred16_t p0 = vctp16q(colBLeft);
+
+            vecMac0 = vdupq_n_f16(0.0f16);
+            vecMac1 = vdupq_n_f16(0.0f16);
+            vecMac2 = vdupq_n_f16(0.0f16);
+            vecMac3 = vdupq_n_f16(0.0f16);
+
+            blkCnt = numColsA;
+
+            while (blkCnt > 0U)
+            {
+                /*
+                 * load {bi,4n+0, bi,4n+1, bi,4n+2, ..bi,4n+colBLeft-1, 0, ..}
+                 */
+                vecInB = vldrhq_z_f16(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 */
+            vstrhq_p_f16(pOut0, vecMac0, p0);
+            vstrhq_p_f16(pOut1, vecMac1, p0);
+            vstrhq_p_f16(pOut2, vecMac2, p0);
+            vstrhq_p_f16(pOut3, vecMac3, p0);
+        }
+
+        pInA += 4 * numColsA;
+        pOut += 4 * numColsB;
+        i--;
+    }
+
+    /*
+     * non multiple of 4 rows for Matrix A
+     * process single row
+     */
+    if (numRowsA & 3)
+    {
+        i = numRowsA & 3;
+        do
+        {
+            float16_t   *pInA0;
+            float16_t   *pInB0;
+            float16_t   *pOut0;
+            f16x8_t    vecInB;
+            f16x8_t    vecMac0;
+
+            pOut0 = pOut;
+            pInB0 = pInB;
+
+            int       k = numColsB >> 3;
+            while(k > 0)
+            {
+                pInA0 = pInA;
+
+                vecMac0 = vdupq_n_f16(0.0f16);
+                blkCnt = numColsA;
+
+                while (blkCnt > 0U)
+                {
+                    /*
+                     * load {bi,4n+0, bi,4n+1, bi,4n+2, bi,4n+3, ...bi,4n+7}
+                     */
+                    vecInB = *(f16x8_t *)pInB0; /* vldrhq_f16(pInB0, 0); */
+
+                    vecMac0 = vfmaq(vecMac0, vecInB, *pInA0++);
+
+                    pInB0 = pInB0 + numColsB;
+                    /*
+                     * Decrement the blockSize loop counter
+                     */
+                    blkCnt--;
+                }
+                /* Store the results (1 x 8 block) in the destination buffer */
+                vst1q(pOut0, vecMac0);   pOut0 += 8;
+                /*
+                 * rewind
+                 */
+                pInB0 -= (numColsB * numColsA) - 8;
+                k--;
+            }
+
+            int  colBLeft = numColsB & 7;
+            if (colBLeft)
+            {
+                pInA0 = pInA;
+                mve_pred16_t p0 = vctp16q(colBLeft);
+
+                vecMac0 = vdupq_n_f16(0.0f16);
+                blkCnt = numColsA;
+
+                while (blkCnt > 0U)
+                {
+                    /*
+                     * load {bi,4n+0, bi,4n+1, bi,4n+2, ..., bi,4n+colBLeft, 0, ...}
+                     */
+                    vecInB = vldrhq_z_f16(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 */
+                vstrhq_p_f16(pOut0, vecMac0, p0);
+            }
+
+            pInA += 1 * numColsA;
+            pOut += 1 * numColsB;
+        }
+        while (--i);
+    }
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+  }
+}
+#else
+
+
+arm_status arm_mat_mult_f16(
+  const arm_matrix_instance_f16 * pSrcA,
+  const arm_matrix_instance_f16 * pSrcB,
+        arm_matrix_instance_f16 * pDst)
+{
+  float16_t *pIn1 = pSrcA->pData;                /* Input data matrix pointer A */
+  float16_t *pIn2 = pSrcB->pData;                /* Input data matrix pointer B */
+  float16_t *pInA = pSrcA->pData;                /* Input data matrix pointer A */
+  float16_t *pInB = pSrcB->pData;                /* Input data matrix pointer B */
+  float16_t *pOut = pDst->pData;                 /* Output data matrix pointer */
+  float16_t *px;                                 /* Temporary output data matrix pointer */
+  _Float16 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 = 0.0f16;
+
+        /* 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 += (_Float16)*pIn1++ * (_Float16)*pIn2;
+          pIn2 += numColsB;
+
+          sum += (_Float16)*pIn1++ * (_Float16)*pIn2;
+          pIn2 += numColsB;
+
+          sum += (_Float16)*pIn1++ * (_Float16)*pIn2;
+          pIn2 += numColsB;
+
+          sum += (_Float16)*pIn1++ * (_Float16)*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 += (_Float16)*pIn1++ * (_Float16)*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 /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
+
+/**
+ * @} end of MatrixMult group
+ */
+
+#endif /* #if defined(ARM_FLOAT16_SUPPORTED) */ 
+
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f32.c
new file mode 100644
index 0000000..d1fd9ea
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f32.c
@@ -0,0 +1,1001 @@
+/* ----------------------------------------------------------------------
+ * 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
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f64.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f64.c
new file mode 100644
index 0000000..a7bdf2d
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_f64.c
@@ -0,0 +1,202 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_mult_f64.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"
+
+/**
+ * @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.
+ */
+
+
+arm_status arm_mat_mult_f64(
+  const arm_matrix_instance_f64 * pSrcA,
+  const arm_matrix_instance_f64 * pSrcB,
+        arm_matrix_instance_f64 * pDst)
+{
+  float64_t *pIn1 = pSrcA->pData;                /* Input data matrix pointer A */
+  float64_t *pIn2 = pSrcB->pData;                /* Input data matrix pointer B */
+  float64_t *pInA = pSrcA->pData;                /* Input data matrix pointer A */
+  float64_t *pInB = pSrcB->pData;                /* Input data matrix pointer B */
+  float64_t *pOut = pDst->pData;                 /* Output data matrix pointer */
+  float64_t *px;                                 /* Temporary output data matrix pointer */
+  float64_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 */
+  uint64_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 = 0.0;
+
+        /* 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);
+}
+
+
+/**
+ * @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_fast_q15.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
new file mode 100644
index 0000000..314b80e
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_fast_q15.c
@@ -0,0 +1,483 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_mult_fast_q15.c
+ * Description:  Q15 matrix multiplication (fast variant)
+ *
+ * $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
+ */
+
+/**
+  @addtogroup MatrixMult
+  @{
+ */
+
+/**
+  @brief         Q15 matrix multiplication (fast variant).
+  @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
+  @param[in]     pState     points to the array for storing intermediate results
+  @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+  @par           Scaling and Overflow Behavior
+                   The difference between the function \ref arm_mat_mult_q15() and this fast variant is that
+                   the fast variant use a 32-bit rather than a 64-bit accumulator.
+                   The result of each 1.15 x 1.15 multiplication is truncated to
+                   2.30 format. These intermediate results are accumulated in a 32-bit register in 2.30
+                   format. Finally, the accumulator is saturated and converted to a 1.15 result.
+  @par
+                   The fast version has the same overflow behavior as the standard version but provides
+                   less precision since it discards the low 16 bits of each multiplication result.
+                   In order to avoid overflows completely the input signals must be scaled down.
+                   Scale down one of the input matrices by log2(numColsA) bits to avoid overflows,
+                   as a total of numColsA additions are computed internally for each output element.
+  @remark
+                   Refer to \ref arm_mat_mult_q15() for a slower implementation of this function
+                   which uses 64-bit accumulation to provide higher precision.
+ */
+
+arm_status arm_mat_mult_fast_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+        arm_matrix_instance_q15 * pDst,
+        q15_t                   * pState)
+{
+        q31_t sum;                                     /* Accumulator */
+        q15_t *pSrcBT = pState;                        /* Input data matrix pointer for transpose */
+        q15_t *pInA = pSrcA->pData;                    /* Input data matrix pointer A of Q15 type */
+        q15_t *pInB = pSrcB->pData;                    /* Input data matrix pointer B of Q15 type */
+        q15_t *px;                                     /* Temporary output data matrix pointer */
+        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 numRowsB = pSrcB->numRows;            /* Number of rows of input matrix B */
+        uint32_t col, i = 0U, row = numRowsB, colCnt;  /* Loop counters */
+        arm_status status;                             /* Status of matrix multiplication */
+
+#if defined (ARM_MATH_DSP)
+        q31_t in;                                      /* Temporary variable to hold the input value */
+        q31_t inA1, inB1, inA2, inB2;
+        q31_t sum2, sum3, sum4;
+        q15_t *pInA2, *pInB2, *px2;
+        uint32_t j = 0;
+#else
+        q15_t in;                                      /* Temporary variable to hold the input value */
+        q15_t inA1, inB1, inA2, inB2;
+#endif /* #if defined (ARM_MATH_DSP) */
+
+#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 */
+
+  {
+    /* Matrix transpose */
+    do
+    {
+      /* The pointer px is set to starting address of column being processed */
+      px = pSrcBT + i;
+
+      /* Apply loop unrolling and exchange columns with row elements */
+      col = numColsB >> 2U;
+
+      /* First part of the processing with loop unrolling.  Compute 4 outputs at a time.
+       ** a second loop below computes the remaining 1 to 3 samples. */
+      while (col > 0U)
+      {
+
+#if defined (ARM_MATH_DSP)
+
+        /* Read two elements from row */
+        in = read_q15x2_ia (&pInB);
+
+        /* Unpack and store one element in destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+        *px = (q15_t) in;
+#else
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+        /* Update pointer px to point to next row of transposed matrix */
+        px += numRowsB;
+
+        /* Unpack and store second element in destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#else
+        *px = (q15_t) in;
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+        /* Update pointer px to point to next row of transposed matrix */
+        px += numRowsB;
+
+        in = read_q15x2_ia (&pInB);
+#ifndef ARM_MATH_BIG_ENDIAN
+        *px = (q15_t) in;
+#else
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+        px += numRowsB;
+
+#ifndef ARM_MATH_BIG_ENDIAN
+        *px = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#else
+        *px = (q15_t) in;
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+        px += numRowsB;
+
+#else /* #if defined (ARM_MATH_DSP) */
+
+        /* Read one element from row */
+        in = *pInB++;
+
+        /* Store one element in destination */
+        *px = in;
+
+        /* Update pointer px to point to next row of transposed matrix */
+        px += numRowsB;
+
+        in = *pInB++;
+        *px = in;
+        px += numRowsB;
+
+        in = *pInB++;
+        *px = in;
+        px += numRowsB;
+
+        in = *pInB++;
+        *px = in;
+        px += numRowsB;
+
+#endif /* #if defined (ARM_MATH_DSP) */
+
+        /* Decrement column loop counter */
+        col--;
+      }
+
+      /* If the columns of pSrcB is not a multiple of 4, compute any remaining output samples here.
+       ** No loop unrolling is used. */
+      col = numColsB % 0x4U;
+
+      while (col > 0U)
+      {
+        /* Read and store input element in destination */
+        *px = *pInB++;
+
+        /* Update pointer px to point to next row of transposed matrix */
+        px += numRowsB;
+
+        /* Decrement column loop counter */
+        col--;
+      }
+
+      i++;
+
+      /* Decrement row loop counter */
+      row--;
+
+    } while (row > 0U);
+
+    /* Reset variables for usage in following multiplication process */
+    row = numRowsA;
+    i = 0U;
+    px = pDst->pData;
+
+#if defined (ARM_MATH_DSP)
+    /* Process two rows from matrix A at a time and output two rows at a time */
+    row = row >> 1U;
+    px2 = px + numColsB;
+#endif
+
+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+    /* row loop */
+    while (row > 0U)
+    {
+      /* 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 transposed pSrcB data */
+      pInB = pSrcBT;
+
+#if defined (ARM_MATH_DSP)
+      /* Process two (transposed) columns from matrix B at a time */
+      col = col >> 1U;
+      j = 0;
+#endif
+
+      /* column loop */
+      while (col > 0U)
+      {
+        /* Set variable sum, that acts as accumulator, to zero */
+        sum = 0;
+
+        /* Initiate pointer pInA to point to starting address of column being processed */
+        pInA = pSrcA->pData + i;
+
+#if defined (ARM_MATH_DSP)
+        sum2 = 0;
+        sum3 = 0;
+        sum4 = 0;
+        pInB  = pSrcBT + j;
+        pInA2 = pInA + numColsA;
+        pInB2 = pInB + numRowsB;
+
+        /* Read in two elements at once - allows dual MAC instruction */
+        colCnt = numColsA >> 1U;
+#else
+        colCnt = numColsA >> 2U;
+#endif
+
+        /* 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) */
+
+#if defined (ARM_MATH_DSP)
+          /* read real and imag values from pSrcA and pSrcB buffer */
+          inA1 = read_q15x2_ia (&pInA);
+          inB1 = read_q15x2_ia (&pInB);
+
+          inA2 = read_q15x2_ia (&pInA2);
+          inB2 = read_q15x2_ia (&pInB2);
+
+          /* Multiply and Accumulates */
+          sum  = __SMLAD(inA1, inB1, sum);
+          sum2 = __SMLAD(inA1, inB2, sum2);
+          sum3 = __SMLAD(inA2, inB1, sum3);
+          sum4 = __SMLAD(inA2, inB2, sum4);
+#else
+          /* read real and imag values from pSrcA and pSrcB buffer */
+          inA1 = *pInA++;
+          inB1 = *pInB++;
+          /* Multiply and Accumulates */
+          sum += inA1 * inB1;
+
+          inA2 = *pInA++;
+          inB2 = *pInB++;
+          sum += inA2 * inB2;
+
+          inA1 = *pInA++;
+          inB1 = *pInB++;
+          sum += inA1 * inB1;
+
+          inA2 = *pInA++;
+          inB2 = *pInB++;
+          sum += inA2 * inB2;
+#endif /* #if defined (ARM_MATH_DSP) */
+
+          /* Decrement loop counter */
+          colCnt--;
+        }
+
+        /* process odd column samples */
+#if defined (ARM_MATH_DSP)
+        if (numColsA & 1U) {
+          inA1 = *pInA++;
+          inB1 = *pInB++;
+          inA2 = *pInA2++;
+          inB2 = *pInB2++;
+          sum  += inA1 * inB1;
+          sum2 += inA1 * inB2;
+          sum3 += inA2 * inB1;
+          sum4 += inA2 * inB2;
+        }
+#else
+        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 += (q31_t) *pInA++ * *pInB++;
+
+          /* Decrement loop counter */
+          colCnt--;
+        }
+#endif /* #if defined (ARM_MATH_DSP) */
+
+        /* Saturate and store result in destination buffer */
+        *px++  = (q15_t) (sum >> 15);
+
+#if defined (ARM_MATH_DSP)
+        *px++  = (q15_t) (sum2 >> 15);
+        *px2++ = (q15_t) (sum3 >> 15);
+        *px2++ = (q15_t) (sum4 >> 15);
+        j += numRowsB * 2;
+#endif
+
+        /* Decrement column loop counter */
+        col--;
+
+      }
+
+      i = i + numColsA;
+
+#if defined (ARM_MATH_DSP)
+      i = i + numColsA;
+      px = px2 + (numColsB & 1U);
+      px2 = px + numColsB;
+#endif
+
+      /* Decrement row loop counter */
+      row--;
+
+    }
+
+    /* Compute any remaining odd row/column below */
+
+#if defined (ARM_MATH_DSP)
+
+    /* Compute remaining output column */
+    if (numColsB & 1U) {
+
+      /* Avoid redundant computation of last element */
+      row = numRowsA & (~0x1);
+
+      /* Point to remaining unfilled column in output matrix */
+      px = pDst->pData + numColsB-1;
+      pInA = pSrcA->pData;
+
+      /* row loop */
+      while (row > 0)
+      {
+
+        /* point to last column in matrix B */
+        pInB  = pSrcBT + numRowsB * (numColsB-1);
+
+        /* Set variable sum, that acts as accumulator, to zero */
+        sum  = 0;
+
+        /* Compute 4 columns at once */
+        colCnt = numColsA >> 2U;
+
+        /* matrix multiplication */
+        while (colCnt > 0U)
+        {
+          inA1 = read_q15x2_ia (&pInA);
+          inA2 = read_q15x2_ia (&pInA);
+          inB1 = read_q15x2_ia (&pInB);
+          inB2 = read_q15x2_ia (&pInB);
+
+          sum  = __SMLAD(inA1, inB1, sum);
+          sum  = __SMLAD(inA2, inB2, sum);
+
+          /* Decrement loop counter */
+          colCnt--;
+        }
+
+        colCnt = numColsA & 3U;
+        while (colCnt > 0U) {
+          sum += (q31_t) (*pInA++) * (*pInB++);
+          colCnt--;
+        }
+
+        /* Store result in destination buffer */
+        *px = (q15_t) (sum  >> 15);
+        px += numColsB;
+
+        /* Decrement row loop counter */
+        row--;
+      }
+    }
+
+    /* Compute remaining output row */
+    if (numRowsA & 1U) {
+
+      /* point to last row in output matrix */
+      px = pDst->pData + (numColsB) * (numRowsA-1);
+
+      pInB  = pSrcBT;
+      col = numColsB;
+      i = 0U;
+
+      /* col loop */
+      while (col > 0)
+      {
+        /* point to last row in matrix A */
+        pInA = pSrcA->pData + (numRowsA-1) * numColsA;
+
+        /* Set variable sum, that acts as accumulator, to zero */
+        sum  = 0;
+
+        /* Compute 4 columns at once */
+        colCnt = numColsA >> 2U;
+
+        /* matrix multiplication */
+        while (colCnt > 0U)
+        {
+          inA1 = read_q15x2_ia (&pInA);
+          inA2 = read_q15x2_ia (&pInA);
+          inB1 = read_q15x2_ia (&pInB);
+          inB2 = read_q15x2_ia (&pInB);
+
+          sum  = __SMLAD(inA1, inB1, sum);
+          sum  = __SMLAD(inA2, inB2, sum);
+
+          /* Decrement loop counter */
+          colCnt--;
+        }
+
+        colCnt = numColsA % 4U;
+        while (colCnt > 0U) {
+          sum += (q31_t) (*pInA++) * (*pInB++);
+
+          colCnt--;
+        }
+
+        /* Store result in destination buffer */
+        *px++ = (q15_t) (sum  >> 15);
+
+        /* Decrement column loop counter */
+        col--;
+      }
+    }
+
+#endif /* #if defined (ARM_MATH_DSP) */
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**
+  @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_fast_q31.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
new file mode 100644
index 0000000..99a4232
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_fast_q31.c
@@ -0,0 +1,374 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_mult_fast_q31.c
+ * Description:  Q31 matrix multiplication (fast variant)
+ *
+ * $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
+ */
+
+/**
+  @addtogroup MatrixMult
+  @{
+ */
+
+/**
+  @brief         Q31 matrix multiplication (fast variant).
+  @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        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+  @par           Scaling and Overflow Behavior
+                   The difference between the function \ref arm_mat_mult_q31() and this fast variant is that
+                   the fast variant use a 32-bit rather than a 64-bit accumulator.
+                   The result of each 1.31 x 1.31 multiplication is truncated to
+                   2.30 format. These intermediate results are accumulated in a 32-bit register in 2.30
+                   format. Finally, the accumulator is saturated and converted to a 1.31 result.
+  @par
+                   The fast version has the same overflow behavior as the standard version but provides
+                   less precision since it discards the low 32 bits of each multiplication result.
+                   In order to avoid overflows completely the input signals must be scaled down.
+                   Scale down one of the input matrices by log2(numColsA) bits to avoid overflows,
+                   as a total of numColsA additions are computed internally for each output element.
+  @remark
+                   Refer to \ref arm_mat_mult_q31() for a slower implementation of this function
+                   which uses 64-bit accumulation to provide higher precision.
+ */
+
+arm_status arm_mat_mult_fast_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+        arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pInA = pSrcA->pData;                    /* Input data matrix pointer A */
+  q31_t *pInB = pSrcB->pData;                    /* Input data matrix pointer B */
+  q31_t *pInA2;
+  q31_t *px;                                     /* Temporary output data matrix pointer */
+  q31_t *px2;
+  q31_t sum1, sum2, sum3, sum4;                  /* Accumulator */
+  q31_t inA1, inA2, inB1, inB2;
+  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, j, 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 */
+
+  {
+    px = pDst->pData;
+
+    row = row >> 1U;
+    px2 = px + numColsB;
+
+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+    /* row loop */
+    while (row > 0U)
+    {
+      /* 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 */
+      pInB = pSrcB->pData;
+
+      j = 0U;
+
+      col = col >> 1U;
+
+      /* column loop */
+      while (col > 0U)
+      {
+        /* Set the variable sum, that acts as accumulator, to zero */
+        sum1 = 0;
+        sum2 = 0;
+        sum3 = 0;
+        sum4 = 0;
+        
+        /* Initiate data pointers */
+        pInA = pSrcA->pData + i;
+        pInB = pSrcB->pData + j;
+        pInA2 = pInA + numColsA;
+        
+        colCnt = numColsA;
+
+        /* 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) */
+
+          inA1 = *pInA++;
+          inB1 = pInB[0];
+          inA2 = *pInA2++;
+          inB2 = pInB[1];
+          pInB += numColsB;
+
+#if defined (ARM_MATH_DSP)
+          sum1 = __SMMLA(inA1, inB1, sum1);
+          sum2 = __SMMLA(inA1, inB2, sum2);
+          sum3 = __SMMLA(inA2, inB1, sum3);
+          sum4 = __SMMLA(inA2, inB2, sum4);
+#else
+          sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) inA1 * inB1)) >> 32);
+          sum2 = (q31_t) ((((q63_t) sum2 << 32) + ((q63_t) inA1 * inB2)) >> 32);
+          sum3 = (q31_t) ((((q63_t) sum3 << 32) + ((q63_t) inA2 * inB1)) >> 32);
+          sum4 = (q31_t) ((((q63_t) sum4 << 32) + ((q63_t) inA2 * inB2)) >> 32);
+#endif
+
+          /* Decrement loop counter */
+          colCnt--;
+        }
+
+        /* Convert the result from 2.30 to 1.31 format and store in destination buffer */
+        *px++  = sum1 << 1;
+        *px++  = sum2 << 1;
+        *px2++ = sum3 << 1;
+        *px2++ = sum4 << 1;
+
+        j += 2;
+
+        /* Decrement column loop counter */
+        col--;
+      }
+
+      i = i + (numColsA << 1U);
+      px  = px2 + (numColsB & 1U);
+      px2 = px  +  numColsB;
+
+      /* Decrement row loop counter */
+      row--;
+    }
+
+    /* Compute any remaining odd row/column below */
+
+    /* Compute remaining output column */
+    if (numColsB & 1U) {
+
+      /* Avoid redundant computation of last element */
+      row = numRowsA & (~1U);
+
+      /* Point to remaining unfilled column in output matrix */
+      px = pDst->pData + numColsB-1;
+      pInA = pSrcA->pData;
+
+      /* row loop */
+      while (row > 0)
+      {
+
+        /* point to last column in matrix B */
+        pInB  = pSrcB->pData + numColsB-1;
+
+        /* Set variable sum1, that acts as accumulator, to zero */
+        sum1  = 0;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+        /* Loop unrolling: Compute 4 columns at a time. */
+        colCnt = numColsA >> 2U;
+
+        /* matrix multiplication */
+        while (colCnt > 0U)
+        {
+#if defined (ARM_MATH_DSP)
+          sum1 = __SMMLA(*pInA++, *pInB, sum1);
+#else
+          sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) *pInA++ * *pInB)) >> 32);
+#endif
+          pInB += numColsB;
+
+#if defined (ARM_MATH_DSP)
+          sum1 = __SMMLA(*pInA++, *pInB, sum1);
+#else
+          sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) *pInA++ * *pInB)) >> 32);
+#endif
+          pInB += numColsB;
+
+#if defined (ARM_MATH_DSP)
+          sum1 = __SMMLA(*pInA++, *pInB, sum1);
+#else
+          sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) *pInA++ * *pInB)) >> 32);
+#endif
+          pInB += numColsB;
+
+#if defined (ARM_MATH_DSP)
+          sum1 = __SMMLA(*pInA++, *pInB, sum1);
+#else
+          sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) *pInA++ * *pInB)) >> 32);
+#endif
+          pInB += numColsB;
+
+          /* Decrement loop counter */
+          colCnt--;
+        }
+
+        /* Loop unrolling: Compute remaining column */
+        colCnt = numColsA % 4U;
+
+#else
+
+        /* Initialize colCnt with number of columns */
+        colCnt = numColsA;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+        while (colCnt > 0U) {
+#if defined (ARM_MATH_DSP)
+          sum1 = __SMMLA(*pInA++, *pInB, sum1);
+#else
+          sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) *pInA++ * *pInB)) >> 32);
+#endif
+          pInB += numColsB;
+          
+          colCnt--;
+        }
+
+        /* Convert the result from 2.30 to 1.31 format and store in destination buffer */
+        *px = sum1 << 1;
+        px += numColsB;
+
+        /* Decrement row loop counter */
+        row--;
+      }
+    }
+
+    /* Compute remaining output row */
+    if (numRowsA & 1U) {
+
+      /* point to last row in output matrix */
+      px = pDst->pData + (numColsB) * (numRowsA-1);
+
+      col = numColsB;
+      i = 0U;
+
+      /* col loop */
+      while (col > 0)
+      {
+
+        /* point to last row in matrix A */
+        pInA = pSrcA->pData + (numRowsA-1) * numColsA;
+        pInB  = pSrcB->pData + i;
+
+        /* Set variable sum1, that acts as accumulator, to zero */
+        sum1  = 0;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+        /* Loop unrolling: Compute 4 columns at a time. */
+        colCnt = numColsA >> 2U;
+
+        /* matrix multiplication */
+        while (colCnt > 0U)
+        {
+          inA1 = *pInA++;
+          inA2 = *pInA++;
+          inB1 = *pInB;
+          pInB += numColsB;
+          inB2 = *pInB;
+          pInB += numColsB;
+#if defined (ARM_MATH_DSP)
+          sum1 = __SMMLA(inA1, inB1, sum1);
+          sum1 = __SMMLA(inA2, inB2, sum1);
+#else
+          sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) inA1 * inB1)) >> 32);
+          sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) inA2 * inB2)) >> 32);
+#endif
+
+          inA1 = *pInA++;
+          inA2 = *pInA++;
+          inB1 = *pInB;
+          pInB += numColsB;
+          inB2 = *pInB;
+          pInB += numColsB;
+#if defined (ARM_MATH_DSP)
+          sum1 = __SMMLA(inA1, inB1, sum1);
+          sum1 = __SMMLA(inA2, inB2, sum1);
+#else
+          sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) inA1 * inB1)) >> 32);
+          sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) inA2 * inB2)) >> 32);
+#endif
+
+          /* Decrement loop counter */
+          colCnt--;
+        }
+
+        /* Loop unrolling: Compute remaining column */
+        colCnt = numColsA % 4U;
+
+#else
+
+        /* Initialize colCnt with number of columns */
+        colCnt = numColsA;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+        while (colCnt > 0U) {
+#if defined (ARM_MATH_DSP)
+          sum1 = __SMMLA(*pInA++, *pInB, sum1);
+#else
+          sum1 = (q31_t) ((((q63_t) sum1 << 32) + ((q63_t) *pInA++ * *pInB)) >> 32);
+#endif
+          pInB += numColsB;
+
+          colCnt--;
+        }
+
+        /* Saturate and store the result in the destination buffer */
+        *px++ = sum1 << 1;
+        i++;
+
+        /* Decrement col loop counter */
+        col--;
+      }
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**
+  @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_opt_q31.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_opt_q31.c
new file mode 100644
index 0000000..91b1bcd
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_opt_q31.c
@@ -0,0 +1,784 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_mult_opt_q31.c
+ * Description:  Q31 matrix multiplication
+ *
+ * $Date:        3 Nov 2021
+ * $Revision:    V1.10.0
+ *
+ * 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
+ */
+
+/**
+  @addtogroup MatrixMult
+  @{
+ */
+
+/**
+  @brief         Q31 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
+  @param[in]  pState  points to the array for storing intermediate results
+  @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+  @par           Scaling and Overflow Behavior
+                   The function is implemented using an internal 64-bit accumulator.
+                   The accumulator has a 2.62 format and maintains full precision of the intermediate
+                   multiplication results but provides only a single guard bit. There is no saturation
+                   on intermediate additions. Thus, if the accumulator overflows it wraps around and
+                   distorts the result. The input signals should be scaled down to avoid intermediate
+                   overflows. The input is thus scaled down by log2(numColsA) bits
+                   to avoid overflows, as a total of numColsA additions are performed internally.
+                   The 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.
+  @remark
+                   Refer to \ref arm_mat_mult_fast_q31() for a faster but less precise implementation of this function.
+  @remark
+                   This function is a faster implementation of arm_mat_mult_q31 for MVE but it is requiring 
+                   additional storage for intermediate results.
+ */
+#if defined(ARM_MATH_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#define MATRIX_DIM2 2
+#define MATRIX_DIM3 3
+#define MATRIX_DIM4 4
+
+__STATIC_INLINE arm_status arm_mat_mult_opt_q31_2x2_mve(
+    const arm_matrix_instance_q31 * pSrcA,
+    const arm_matrix_instance_q31 * pSrcB,
+    arm_matrix_instance_q31 * pDst)
+{
+    q31_t       *pInB = pSrcB->pData;  /* input data matrix pointer B */
+    q31_t       *pInA = pSrcA->pData;  /* input data matrix pointer A */
+    q31_t       *pOut = pDst->pData;   /* output data matrix pointer */
+    uint32x4_t   vecColBOffs;
+    q31_t       *pInA0 = pInA;
+    q31_t       *pInA1 = pInA0 + MATRIX_DIM2;
+    q63_t        acc0, acc1;
+    q31x4_t      vecB, vecA0, vecA1;
+    /* enable predication to disable half of vector elements */
+    mve_pred16_t p0 = vctp32q(MATRIX_DIM2);
+
+    vecColBOffs = vidupq_u32((uint32_t)0, 1);
+    vecColBOffs = vecColBOffs * MATRIX_DIM2;
+
+    pInB = pSrcB->pData;
+
+    /* load 1st B column (partial load) */
+    vecB = vldrwq_gather_shifted_offset_z_s32(pInB, vecColBOffs, p0);
+
+    /* load A rows */
+    vecA0 = vldrwq_s32(pInA0);
+    vecA1 = vldrwq_s32(pInA1);
+
+    acc0 = vrmlaldavhq(vecA0, vecB);
+    acc1 = vrmlaldavhq(vecA1, vecB);
+
+    acc0 = asrl(acc0, 23);
+    acc1 = asrl(acc1, 23);
+
+    pOut[0 * MATRIX_DIM2] = (q31_t) acc0;
+    pOut[1 * MATRIX_DIM2] = (q31_t) acc1;
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrwq_gather_shifted_offset_z_s32(pInB, vecColBOffs, p0);
+
+    acc0 = vrmlaldavhq(vecA0, vecB);
+    acc1 = vrmlaldavhq(vecA1, vecB);
+
+    acc0 = asrl(acc0, 23);
+    acc1 = asrl(acc1, 23);
+
+    pOut[0 * MATRIX_DIM2] = (q31_t) acc0;
+    pOut[1 * MATRIX_DIM2] = (q31_t) acc1;
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+}
+
+
+
+__STATIC_INLINE arm_status arm_mat_mult_opt_q31_3x3_mve(
+    const arm_matrix_instance_q31 * pSrcA,
+    const arm_matrix_instance_q31 * pSrcB,
+    arm_matrix_instance_q31 * pDst)
+{
+    q31_t       *pInB = pSrcB->pData;  /* input data matrix pointer B */
+    q31_t       *pInA = pSrcA->pData;  /* input data matrix pointer A */
+    q31_t       *pOut = pDst->pData;   /* output data matrix pointer */
+    uint32x4_t   vecColBOffs;
+    q31_t       *pInA0 = pInA;
+    q31_t       *pInA1 = pInA0 + MATRIX_DIM3;
+    q31_t       *pInA2 = pInA1 + MATRIX_DIM3;
+    q63_t        acc0, acc1, acc2;
+    q31x4_t      vecB, vecA;
+    /* enable predication to disable last (4th) vector element */
+    mve_pred16_t p0 = vctp32q(MATRIX_DIM3);
+
+    vecColBOffs = vidupq_u32((uint32_t)0, 1);
+    vecColBOffs = vecColBOffs * MATRIX_DIM3;
+
+    pInB = pSrcB->pData;
+
+    vecB = vldrwq_gather_shifted_offset_z_s32(pInB, vecColBOffs, p0);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA1);
+    acc1 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA2);
+    acc2 = vrmlaldavhq(vecA, vecB);
+
+    acc0 = asrl(acc0, 23);
+    acc1 = asrl(acc1, 23);
+    acc2 = asrl(acc2, 23);
+
+    pOut[0 * MATRIX_DIM3] = (q31_t) acc0;
+    pOut[1 * MATRIX_DIM3] = (q31_t) acc1;
+    pOut[2 * MATRIX_DIM3] = (q31_t) acc2;
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrwq_gather_shifted_offset_z_s32(pInB, vecColBOffs, p0);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA1);
+    acc1 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA2);
+    acc2 = vrmlaldavhq(vecA, vecB);
+
+    acc0 = asrl(acc0, 23);
+    acc1 = asrl(acc1, 23);
+    acc2 = asrl(acc2, 23);
+
+    pOut[0 * MATRIX_DIM3] = (q31_t) acc0;
+    pOut[1 * MATRIX_DIM3] = (q31_t) acc1;
+    pOut[2 * MATRIX_DIM3] = (q31_t) acc2;
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrwq_gather_shifted_offset_z_s32(pInB, vecColBOffs, p0);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA1);
+    acc1 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA2);
+    acc2 = vrmlaldavhq(vecA, vecB);
+
+    acc0 = asrl(acc0, 23);
+    acc1 = asrl(acc1, 23);
+    acc2 = asrl(acc2, 23);
+
+    pOut[0 * MATRIX_DIM3] = (q31_t) acc0;
+    pOut[1 * MATRIX_DIM3] = (q31_t) acc1;
+    pOut[2 * MATRIX_DIM3] = (q31_t) acc2;
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+}
+
+__STATIC_INLINE arm_status arm_mat_mult_opt_q31_4x4_mve(
+    const arm_matrix_instance_q31 * pSrcA,
+    const arm_matrix_instance_q31 * pSrcB,
+    arm_matrix_instance_q31 * pDst)
+{
+    q31_t       *pInB = pSrcB->pData;  /* input data matrix pointer B */
+    q31_t       *pInA = pSrcA->pData;  /* input data matrix pointer A */
+    q31_t       *pOut = pDst->pData;   /* output data matrix pointer */
+    uint32x4_t   vecColBOffs;
+    q31_t       *pInA0 = pInA;
+    q31_t       *pInA1 = pInA0 + MATRIX_DIM4;
+    q31_t       *pInA2 = pInA1 + MATRIX_DIM4;
+    q31_t       *pInA3 = pInA2 + MATRIX_DIM4;
+    q63_t        acc0, acc1, acc2, acc3;
+    q31x4_t      vecB, vecA;
+
+    vecColBOffs = vidupq_u32((uint32_t)0, 4);
+
+    pInB = pSrcB->pData;
+
+    vecB = vldrwq_gather_shifted_offset_s32(pInB, vecColBOffs);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA1);
+    acc1 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA2);
+    acc2 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA3);
+    acc3 = vrmlaldavhq(vecA, vecB);
+
+    acc0 = asrl(acc0, 23);
+    acc1 = asrl(acc1, 23);
+    acc2 = asrl(acc2, 23);
+    acc3 = asrl(acc3, 23);
+
+    pOut[0 * MATRIX_DIM4] = (q31_t) acc0;
+    pOut[1 * MATRIX_DIM4] = (q31_t) acc1;
+    pOut[2 * MATRIX_DIM4] = (q31_t) acc2;
+    pOut[3 * MATRIX_DIM4] = (q31_t) acc3;
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrwq_gather_shifted_offset_s32(pInB, vecColBOffs);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA1);
+    acc1 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA2);
+    acc2 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA3);
+    acc3 = vrmlaldavhq(vecA, vecB);
+
+    acc0 = asrl(acc0, 23);
+    acc1 = asrl(acc1, 23);
+    acc2 = asrl(acc2, 23);
+    acc3 = asrl(acc3, 23);
+
+    pOut[0 * MATRIX_DIM4] = (q31_t) acc0;
+    pOut[1 * MATRIX_DIM4] = (q31_t) acc1;
+    pOut[2 * MATRIX_DIM4] = (q31_t) acc2;
+    pOut[3 * MATRIX_DIM4] = (q31_t) acc3;
+
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrwq_gather_shifted_offset_s32(pInB, vecColBOffs);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA1);
+    acc1 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA2);
+    acc2 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA3);
+    acc3 = vrmlaldavhq(vecA, vecB);
+
+    acc0 = asrl(acc0, 23);
+    acc1 = asrl(acc1, 23);
+    acc2 = asrl(acc2, 23);
+    acc3 = asrl(acc3, 23);
+
+    pOut[0 * MATRIX_DIM4] = (q31_t) acc0;
+    pOut[1 * MATRIX_DIM4] = (q31_t) acc1;
+    pOut[2 * MATRIX_DIM4] = (q31_t) acc2;
+    pOut[3 * MATRIX_DIM4] = (q31_t) acc3;
+
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrwq_gather_shifted_offset_s32(pInB, vecColBOffs);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA1);
+    acc1 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA2);
+    acc2 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA3);
+    acc3 = vrmlaldavhq(vecA, vecB);
+
+    acc0 = asrl(acc0, 23);
+    acc1 = asrl(acc1, 23);
+    acc2 = asrl(acc2, 23);
+    acc3 = asrl(acc3, 23);
+
+    pOut[0 * MATRIX_DIM4] = (q31_t) acc0;
+    pOut[1 * MATRIX_DIM4] = (q31_t) acc1;
+    pOut[2 * MATRIX_DIM4] = (q31_t) acc2;
+    pOut[3 * MATRIX_DIM4] = (q31_t) acc3;
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+}
+
+
+arm_status arm_mat_mult_opt_q31(
+    const arm_matrix_instance_q31 * pSrcA,
+    const arm_matrix_instance_q31 * pSrcB,
+    arm_matrix_instance_q31 * pDst,
+    q31_t *pState)
+{
+    q31_t          *pInA = pSrcA->pData;        /* input data matrix pointer A */
+    q31_t          *pInB = pSrcB->pData;        /* input data matrix pointer B */
+    q31_t          *pInA2;
+    q31_t          *pInB2;
+    q31_t          *px;         /* Temporary output data matrix pointer */
+    q31_t          *px2;        /* Temporary output data matrix pointer */
+    uint32_t        numRowsA = pSrcA->numRows;  /* number of rows of input matrix A    */
+    uint32_t        numColsB = pSrcB->numCols;  /* number of columns of input matrix B */
+    uint32_t        numColsA = pSrcA->numCols;  /* number of columns of input matrix A */
+    uint32_t        numRowsB = pSrcB->numRows;  /* number of rows of input matrix A    */
+    uint32_t        col, i = 0u, j, row = numRowsB;     /* loop counters */
+    q31_t          *pSrcBT = pState;     /* input data matrix pointer for transpose */
+    uint32_t        blkCnt;     /* loop counters */
+    arm_status      status;                            /* Status of matrix multiplication */
+    arm_matrix_instance_q31 BT;
+#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)
+        {
+          q63_t sum =  (q63_t) *pInA * *pInB;
+          pDst->pData[0] = (q31_t)(sum >> 31);
+          return (ARM_MATH_SUCCESS);
+        }
+        else if(numRowsA == 2)
+            return arm_mat_mult_opt_q31_2x2_mve(pSrcA, pSrcB, pDst);
+        else if(numRowsA == 3)
+            return arm_mat_mult_opt_q31_3x3_mve(pSrcA, pSrcB, pDst);
+        else if (numRowsA == 4)
+            return arm_mat_mult_opt_q31_4x4_mve(pSrcA, pSrcB, pDst);
+    }
+
+
+        /*
+         * Matrix transpose
+         */
+        BT.numRows = numColsB;
+        BT.numCols = numRowsB;
+        BT.pData = pSrcBT;
+
+        arm_mat_trans_q31(pSrcB, &BT);
+
+
+        /*
+         * Reset the variables for the usage in the following multiplication process
+         */
+        i = 0;
+        row = numRowsA >> 1;
+        px = pDst->pData;
+        px2 = px + numColsB;
+
+        /*
+         * main loop
+         * compute 2 x 2 output blocks
+         * with dot products (Matrix A rows * Transposed MAtrix B rows)
+         */
+        while (row > 0u) {
+            /*
+             * For every row wise process, the column loop counter is to be initiated
+             * Compute 2 columns and 2 rows in parrallel
+             */
+            col = numColsB >> 1;
+            j = 0;
+
+            /*
+             * column pair loop
+             */
+            while (col > 0u) {
+                q31_t const    *pSrcAVec, *pSrcBVec, *pSrcA2Vec, *pSrcB2Vec;
+                q31x4_t         vecA, vecA2, vecB, vecB2;
+                q63_t           acc0, acc1, acc2, acc3;
+
+                /*
+                 * Initiate the pointers
+                 * - 2 x consecutive Matrix A rows (i increment is 2 x numColsA)
+                 * - 2 x consecutive Matrix B' rows (j increment is 2 x numRowsB)
+                 */
+                pInA = pSrcA->pData + i;
+                pInA2 = pInA + numColsA;
+                pInB = pSrcBT + j;
+                pInB2 = pInB + numRowsB;
+
+
+                pSrcAVec = (q31_t const *) pInA;
+                pSrcA2Vec = (q31_t const *) pInA2;
+                pSrcBVec = (q31_t const *) pInB;
+                pSrcB2Vec = (q31_t const *) pInB2;
+
+                acc0 = 0LL;
+                acc1 = 0LL;
+                acc2 = 0LL;
+                acc3 = 0LL;
+
+                /* load scheduling */
+                vecA = vld1q(pSrcAVec);
+                pSrcAVec += 4;
+
+                blkCnt = (numColsA / 4);
+                while (blkCnt > 0U) {
+                    vecB = vld1q(pSrcBVec);
+                    pSrcBVec += 4;
+                    acc0 = vrmlaldavhaq(acc0, vecA, vecB);
+                    vecA2 = vld1q(pSrcA2Vec);
+                    pSrcA2Vec += 4;
+                    acc1 = vrmlaldavhaq(acc1, vecA2, vecB);
+                    vecB2 = vld1q(pSrcB2Vec);
+                    pSrcB2Vec += 4;
+                    acc2 = vrmlaldavhaq(acc2, vecA, vecB2);
+                    vecA = vld1q(pSrcAVec);
+                    pSrcAVec += 4;
+                    acc3 = vrmlaldavhaq(acc3, vecA2, vecB2);
+
+                    blkCnt--;
+                }
+                /*
+                 * tail
+                 * (will be merged thru tail predication)
+                 */
+                blkCnt = (numColsA & 3);
+                if (blkCnt > 0U) {
+                    mve_pred16_t    p0 = vctp32q(blkCnt);
+                    vecB = vld1q(pSrcBVec);
+                    acc0 = vrmlaldavhaq_p(acc0, vecA, vecB, p0);
+                    vecA2 = vld1q(pSrcA2Vec);
+                    acc1 = vrmlaldavhaq_p(acc1, vecA2, vecB, p0);
+                    vecB2 = vld1q(pSrcB2Vec);
+                    acc2 = vrmlaldavhaq_p(acc2, vecA, vecB2, p0);
+                    vecA = vld1q(pSrcAVec);
+                    acc3 = vrmlaldavhaq_p(acc3, vecA2, vecB2, p0);
+                }
+
+                /* Convert to 1.31 */
+                acc0 = asrl(acc0, 23);
+                acc1 = asrl(acc1, 23);
+                acc2 = asrl(acc2, 23);
+                acc3 = asrl(acc3, 23);
+
+                /* Store the results (2 x 2 block) in the destination buffer */
+                *px++ = (q31_t) acc0;
+                *px++ = (q31_t) acc2;
+                *px2++ = (q31_t) acc1;
+                *px2++ = (q31_t) acc3;
+
+                j += numRowsB * 2;
+                /*
+                 * Decrement the column pair loop counter
+                 */
+                col--;
+
+            }
+
+            i = i + numColsA * 2;
+            px = px2 + (numColsB & 1u);
+            px2 = px + numColsB;
+            /*
+             * Decrement the row pair loop counter
+             */
+            row--;
+        }
+
+        /*
+         * Compute remaining row and/or column below
+         */
+        if (numColsB & 1u) {
+            row = numRowsA & (~0x1);    //avoid redundant computation
+            px = pDst->pData + numColsB - 1;
+            i = 0;
+
+            /*
+             * row loop
+             */
+            while (row > 0) {
+                q31_t const    *pSrcAVec, *pSrcBVec;
+                q31x4_t         vecA, vecB;
+                q63_t           acc0;
+
+                /*
+                 * point to last column in matrix B
+                 */
+                pInB = pSrcBT + numRowsB * (numColsB - 1);
+                pInA = pSrcA->pData + i;
+
+                pSrcAVec = (q31_t const *) pInA;
+                pSrcBVec = (q31_t const *) pInB;
+
+                /* single dot-product */
+                acc0 = 0LL;
+                blkCnt = (numColsA / 4);
+                while (blkCnt > 0U) {
+                    vecA = vld1q(pSrcAVec);
+                    pSrcAVec += 4;
+                    vecB = vld1q(pSrcBVec);
+                    pSrcBVec += 4;
+                    acc0 = vrmlaldavhaq(acc0, vecA, vecB);
+
+                    blkCnt--;
+                }
+                /*
+                 * tail
+                 * (will be merged thru tail predication)
+                 */
+                blkCnt = (numColsA & 3);
+                if (blkCnt > 0U) {
+                    mve_pred16_t    p0 = vctp32q(blkCnt);
+                    vecA = vld1q(pSrcAVec);
+                    vecB = vld1q(pSrcBVec);
+                    acc0 = vrmlaldavhaq_p(acc0, vecA, vecB, p0);
+                }
+
+                acc0 = asrl(acc0, 23);
+                *px = (q31_t) acc0;
+
+                px += numColsB;
+
+                i += numColsA;
+                /*
+                 * Decrement the row loop counter
+                 */
+                row--;
+            }
+        }
+
+        if (numRowsA & 1u) {
+            col = numColsB;
+            i = 0u;
+            /*
+             * point to last row in output matrix
+             */
+            px = pDst->pData + (numColsB) * (numRowsA - 1);
+            /*
+             * col loop
+             */
+            while (col > 0) {
+                q31_t const    *pSrcAVec, *pSrcBVec;
+                q31x4_t         vecA, vecB;
+                q63_t           acc0;
+
+                /*
+                 * point to last row in matrix A
+                 */
+                pInA = pSrcA->pData + (numRowsA - 1) * numColsA;
+                pInB = pSrcBT + i;
+
+                /*
+                 * Set the variable sum, that acts as accumulator, to zero
+                 */
+                pSrcAVec = (q31_t const *) pInA;
+                pSrcBVec = (q31_t const *) pInB;
+                acc0 = 0LL;
+
+                blkCnt = (numColsA / 4);
+                while (blkCnt > 0U) {
+                    vecA = vld1q(pSrcAVec);
+                    pSrcAVec += 4;
+                    vecB = vld1q(pSrcBVec);
+                    pSrcBVec += 4;
+                    acc0 = vrmlaldavhaq(acc0, vecA, vecB);
+
+                    blkCnt--;
+                }
+                /*
+                 * tail
+                 * (will be merged thru tail predication)
+                 */
+                blkCnt = (numColsA & 3);
+                if (blkCnt > 0U) {
+                    mve_pred16_t    p0 = vctp32q(blkCnt);
+                    vecA = vld1q(pSrcAVec);
+                    vecB = vld1q(pSrcBVec);
+                    acc0 = vrmlaldavhaq_p(acc0, vecA, vecB, p0);
+                }
+
+                acc0 = asrl(acc0, 23);
+                *px++ = (q31_t) acc0;
+
+                i += numColsA;
+                /*
+                 * Decrement the col loop counter
+                 */
+                col--;
+            }
+        }
+        /* Set status as ARM_MATH_SUCCESS */
+        status = ARM_MATH_SUCCESS;
+    }
+    /*
+     * Return to application
+     */
+    return (status);
+}
+
+#else
+arm_status arm_mat_mult_opt_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+        arm_matrix_instance_q31 * pDst,
+        q31_t *pState)
+{
+  q31_t *pIn1 = pSrcA->pData;                    /* Input data matrix pointer A */
+  q31_t *pIn2 = pSrcB->pData;                    /* Input data matrix pointer B */
+  q31_t *pInA = pSrcA->pData;                    /* Input data matrix pointer A */
+  q31_t *pInB = pSrcB->pData;                    /* Input data matrix pointer B */
+  q31_t *pOut = pDst->pData;                     /* Output data matrix pointer */
+  q31_t *px;                                     /* Temporary output data matrix pointer */
+  q63_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 */
+  (void)pState;
+#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;
+
+        /* 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 += (q63_t) *pIn1++ * *pIn2;
+          pIn2 += numColsB;
+
+          sum += (q63_t) *pIn1++ * *pIn2;
+          pIn2 += numColsB;
+
+          sum += (q63_t) *pIn1++ * *pIn2;
+          pIn2 += numColsB;
+
+          sum += (q63_t) *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 += (q63_t) *pIn1++ * *pIn2;
+          pIn2 += numColsB;
+
+          /* Decrement loop counter */
+          colCnt--;
+        }
+
+        /* Convert result from 2.62 to 1.31 format and store in destination buffer */
+        *px++ = (q31_t) (sum >> 31);
+
+        /* 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 /* defined(ARM_MATH_MVEI) */
+
+/**
+  @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_q15.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_q15.c
new file mode 100644
index 0000000..e078681
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_q15.c
@@ -0,0 +1,843 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_mult_q15.c
+ * Description:  Q15 matrix multiplication
+ *
+ * $Date:        3 Nov 2021
+ * $Revision:    V1.10.0
+ *
+ * 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
+ */
+
+/**
+  @addtogroup MatrixMult
+  @{
+ */
+
+/**
+  @brief         Q15 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
+  @param[in]     pState     points to the array for storing intermediate results
+  @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+  @par           Scaling and Overflow Behavior
+                   The function is implemented using an internal 64-bit accumulator. The inputs to the
+                   multiplications are in 1.15 format and multiplications yield a 2.30 result.
+                   The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format.
+                   This approach provides 33 guard bits and there is no risk of overflow.
+                   The 34.30 result is then truncated to 34.15 format by discarding the low 15 bits
+                   and then saturated to 1.15 format.
+  @par
+                   Refer to \ref arm_mat_mult_fast_q15() for a faster but less precise version of this function.
+ */
+#if defined(ARM_MATH_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#define MVE_ASRL_SAT16(acc, shift)          ((sqrshrl_sat48(acc, -(32-shift)) >> 32) & 0xffffffff)
+
+#define MATRIX_DIM2 2
+#define MATRIX_DIM3 3
+#define MATRIX_DIM4 4
+
+__STATIC_INLINE arm_status arm_mat_mult_q15_2x2_mve(
+    const arm_matrix_instance_q15 * pSrcA,
+    const arm_matrix_instance_q15 * pSrcB,
+    arm_matrix_instance_q15 * pDst)
+{
+    q15_t       *pInB = pSrcB->pData;  /* input data matrix pointer B */
+    q15_t       *pInA = pSrcA->pData;  /* input data matrix pointer A */
+    q15_t       *pOut = pDst->pData;   /* output data matrix pointer */
+    uint16x8_t  vecColBOffs;
+    q15_t       *pInA0 = pInA;
+    q15_t       *pInA1 = pInA0 + MATRIX_DIM2;
+    q63_t        acc0, acc1;
+    q15x8_t     vecB, vecA0, vecA1;
+    mve_pred16_t p0 = vctp16q(MATRIX_DIM2);
+
+    vecColBOffs = vidupq_u16((uint32_t)0, 2); /* MATRIX_DIM2 */
+
+    pInB = pSrcB->pData;
+
+    vecB = vldrhq_gather_shifted_offset_z_s16((q15_t const *)pInB, vecColBOffs, p0);
+
+    vecA0 = vldrhq_s16(pInA0);
+    vecA1 = vldrhq_s16(pInA1);
+
+    acc0 = vmlaldavq(vecA0, vecB);
+    acc1 = vmlaldavq(vecA1, vecB);
+
+    acc0 = asrl(acc0, 15);
+    acc1 = asrl(acc1, 15);
+
+    pOut[0 * MATRIX_DIM2] = (q15_t) __SSAT(acc0, 16);
+    pOut[1 * MATRIX_DIM2] = (q15_t) __SSAT(acc1, 16);
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrhq_gather_shifted_offset_z_s16(pInB, vecColBOffs, p0);
+
+    acc0 = vmlaldavq(vecA0, vecB);
+    acc1 = vmlaldavq(vecA1, vecB);
+
+    acc0 = asrl(acc0, 15);
+    acc1 = asrl(acc1, 15);
+
+    pOut[0 * MATRIX_DIM2] = (q15_t) __SSAT(acc0, 16);
+    pOut[1 * MATRIX_DIM2] = (q15_t) __SSAT(acc1, 16);
+
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+}
+
+
+
+__STATIC_INLINE arm_status arm_mat_mult_q15_3x3_mve(
+    const arm_matrix_instance_q15 * pSrcA,
+    const arm_matrix_instance_q15 * pSrcB,
+    arm_matrix_instance_q15 * pDst)
+{
+    q15_t       *pInB = pSrcB->pData;  /* input data matrix pointer B */
+    q15_t       *pInA = pSrcA->pData;  /* input data matrix pointer A */
+    q15_t       *pOut = pDst->pData;   /* output data matrix pointer */
+    uint16x8_t vecColBOffs;
+    q15_t       *pInA0 = pInA;
+    q15_t       *pInA1 = pInA0 + MATRIX_DIM3;
+    q15_t       *pInA2 = pInA1 + MATRIX_DIM3;
+    q63_t        acc0, acc1, acc2;
+    q15x8_t    vecB, vecA0, vecA1, vecA2;
+    mve_pred16_t p0 = vctp16q(MATRIX_DIM3);
+
+    vecColBOffs = vidupq_u16((uint32_t)0, 1);
+    vecColBOffs = vecColBOffs * MATRIX_DIM3;
+
+    pInB = pSrcB->pData;
+
+    vecB = vldrhq_gather_shifted_offset_z_s16((q15_t const *)pInB, vecColBOffs, p0);
+
+    vecA0 = vldrhq_s16(pInA0);
+    vecA1 = vldrhq_s16(pInA1);
+    vecA2 = vldrhq_s16(pInA2);
+
+    acc0 = vmlaldavq(vecA0, vecB);
+    acc1 = vmlaldavq(vecA1, vecB);
+    acc2 = vmlaldavq(vecA2, vecB);
+
+    acc0 = asrl(acc0, 15);
+    acc1 = asrl(acc1, 15);
+    acc2 = asrl(acc2, 15);
+
+    pOut[0 * MATRIX_DIM3] = (q15_t) __SSAT(acc0, 16);
+    pOut[1 * MATRIX_DIM3] = (q15_t) __SSAT(acc1, 16);
+    pOut[2 * MATRIX_DIM3] = (q15_t) __SSAT(acc2, 16);
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrhq_gather_shifted_offset_z_s16(pInB, vecColBOffs, p0);
+
+    acc0 = vmlaldavq(vecA0, vecB);
+    acc1 = vmlaldavq(vecA1, vecB);
+    acc2 = vmlaldavq(vecA2, vecB);
+
+    acc0 = asrl(acc0, 15);
+    acc1 = asrl(acc1, 15);
+    acc2 = asrl(acc2, 15);
+
+    pOut[0 * MATRIX_DIM3] = (q15_t) __SSAT(acc0, 16);
+    pOut[1 * MATRIX_DIM3] = (q15_t) __SSAT(acc1, 16);
+    pOut[2 * MATRIX_DIM3] = (q15_t) __SSAT(acc2, 16);
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrhq_gather_shifted_offset_z_s16(pInB, vecColBOffs, p0);
+
+    acc0 = vmlaldavq(vecA0, vecB);
+    acc1 = vmlaldavq(vecA1, vecB);
+    acc2 = vmlaldavq(vecA2, vecB);
+
+    acc0 = asrl(acc0, 15);
+    acc1 = asrl(acc1, 15);
+    acc2 = asrl(acc2, 15);
+
+    pOut[0 * MATRIX_DIM3] = (q15_t) __SSAT(acc0, 16);
+    pOut[1 * MATRIX_DIM3] = (q15_t) __SSAT(acc1, 16);
+    pOut[2 * MATRIX_DIM3] = (q15_t) __SSAT(acc2, 16);
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+}
+
+
+__STATIC_INLINE arm_status arm_mat_mult_q15_4x4_mve(
+    const arm_matrix_instance_q15 * pSrcA,
+    const arm_matrix_instance_q15 * pSrcB,
+    arm_matrix_instance_q15 * pDst)
+{
+    q15_t       *pInB = pSrcB->pData;  /* input data matrix pointer B */
+    q15_t       *pInA = pSrcA->pData;  /* input data matrix pointer A */
+    q15_t       *pOut = pDst->pData;   /* output data matrix pointer */
+    uint16x8_t vecColBOffs;
+    q15_t       *pInA0 = pInA;
+    q15_t       *pInA1 = pInA0 + MATRIX_DIM4;
+    q15_t       *pInA2 = pInA1 + MATRIX_DIM4;
+    q15_t       *pInA3 = pInA2 + MATRIX_DIM4;
+    q63_t        acc0, acc1, acc2, acc3;
+    q15x8_t     vecB, vecA0, vecA1, vecA2, vecA3;
+    mve_pred16_t p0 = vctp16q(MATRIX_DIM4);
+
+    vecColBOffs = vidupq_u16((uint32_t)0, 4);
+
+    pInB = pSrcB->pData;
+
+    vecB = vldrhq_gather_shifted_offset_z_s16((q15_t const *)pInB, vecColBOffs, p0);
+
+    vecA0 = vldrhq_s16(pInA0);
+    vecA1 = vldrhq_s16(pInA1);
+    vecA2 = vldrhq_s16(pInA2);
+    vecA3 = vldrhq_s16(pInA3);
+
+    acc0 = vmlaldavq(vecA0, vecB);
+    acc1 = vmlaldavq(vecA1, vecB);
+    acc2 = vmlaldavq(vecA2, vecB);
+    acc3 = vmlaldavq(vecA3, vecB);
+
+    acc0 = asrl(acc0, 15);
+    acc1 = asrl(acc1, 15);
+    acc2 = asrl(acc2, 15);
+    acc3 = asrl(acc3, 15);
+
+    pOut[0 * MATRIX_DIM4] = (q15_t) __SSAT(acc0, 16);
+    pOut[1 * MATRIX_DIM4] = (q15_t) __SSAT(acc1, 16);
+    pOut[2 * MATRIX_DIM4] = (q15_t) __SSAT(acc2, 16);
+    pOut[3 * MATRIX_DIM4] = (q15_t) __SSAT(acc3, 16);
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrhq_gather_shifted_offset_z_s16(pInB, vecColBOffs, p0);
+
+    acc0 = vmlaldavq(vecA0, vecB);
+    acc1 = vmlaldavq(vecA1, vecB);
+    acc2 = vmlaldavq(vecA2, vecB);
+    acc3 = vmlaldavq(vecA3, vecB);
+
+    acc0 = asrl(acc0, 15);
+    acc1 = asrl(acc1, 15);
+    acc2 = asrl(acc2, 15);
+    acc3 = asrl(acc3, 15);
+
+    pOut[0 * MATRIX_DIM4] = (q15_t) __SSAT(acc0, 16);
+    pOut[1 * MATRIX_DIM4] = (q15_t) __SSAT(acc1, 16);
+    pOut[2 * MATRIX_DIM4] = (q15_t) __SSAT(acc2, 16);
+    pOut[3 * MATRIX_DIM4] = (q15_t) __SSAT(acc3, 16);
+
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrhq_gather_shifted_offset_z_s16(pInB, vecColBOffs, p0);
+
+    acc0 = vmlaldavq(vecA0, vecB);
+    acc1 = vmlaldavq(vecA1, vecB);
+    acc2 = vmlaldavq(vecA2, vecB);
+    acc3 = vmlaldavq(vecA3, vecB);
+
+    acc0 = asrl(acc0, 15);
+    acc1 = asrl(acc1, 15);
+    acc2 = asrl(acc2, 15);
+    acc3 = asrl(acc3, 15);
+
+    pOut[0 * MATRIX_DIM4] = (q15_t) __SSAT(acc0, 16);
+    pOut[1 * MATRIX_DIM4] = (q15_t) __SSAT(acc1, 16);
+    pOut[2 * MATRIX_DIM4] = (q15_t) __SSAT(acc2, 16);
+    pOut[3 * MATRIX_DIM4] = (q15_t) __SSAT(acc3, 16);
+
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrhq_gather_shifted_offset_z_s16(pInB, vecColBOffs, p0);
+
+    acc0 = vmlaldavq(vecA0, vecB);
+    acc1 = vmlaldavq(vecA1, vecB);
+    acc2 = vmlaldavq(vecA2, vecB);
+    acc3 = vmlaldavq(vecA3, vecB);
+
+    acc0 = asrl(acc0, 15);
+    acc1 = asrl(acc1, 15);
+    acc2 = asrl(acc2, 15);
+    acc3 = asrl(acc3, 15);
+
+    pOut[0 * MATRIX_DIM4] = (q15_t) __SSAT(acc0, 16);
+    pOut[1 * MATRIX_DIM4] = (q15_t) __SSAT(acc1, 16);
+    pOut[2 * MATRIX_DIM4] = (q15_t) __SSAT(acc2, 16);
+    pOut[3 * MATRIX_DIM4] = (q15_t) __SSAT(acc3, 16);
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+}
+
+
+arm_status arm_mat_mult_q15(
+    const arm_matrix_instance_q15 * pSrcA,
+    const arm_matrix_instance_q15 * pSrcB,
+    arm_matrix_instance_q15 * pDst,
+    q15_t * pState)
+{
+    q15_t          *pInA = pSrcA->pData;        /* input data matrix pointer A */
+    q15_t          *pInB = pSrcB->pData;        /* input data matrix pointer B */
+    q15_t          *pInA2;
+    q15_t          *pInB2;
+    q15_t          *px;         /* Temporary output data matrix pointer */
+    q15_t          *px2;        /* Temporary output data matrix pointer */
+    uint32_t        numRowsA = pSrcA->numRows;  /* number of rows of input matrix A    */
+    uint32_t        numColsB = pSrcB->numCols;  /* number of columns of input matrix B */
+    uint32_t        numColsA = pSrcA->numCols;  /* number of columns of input matrix A */
+    uint32_t        numRowsB = pSrcB->numRows;  /* number of rows of input matrix A    */
+    uint32_t        col, i = 0u, j, row = numRowsB;     /* loop counters */
+    q15_t          *pSrcBT = pState;    /* input data matrix pointer for transpose */
+    uint32_t        blkCnt;     /* loop counters */
+    arm_status      status;                             /* Status of matrix multiplication */
+    arm_matrix_instance_q15 BT;
+
+#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
+    {
+        /* small squared matrix specialized routines */
+        if (numRowsA == numColsB && numColsB == numColsA) {
+
+            if (numRowsA == 1) {
+                q63_t           sum;
+                sum = pInA[0] * pInB[0];
+                pDst->pData[0] = (q15_t) __SSAT((sum >> 15), 16);
+                return (ARM_MATH_SUCCESS);
+            } else if (numRowsA == 2)
+                return arm_mat_mult_q15_2x2_mve(pSrcA, pSrcB, pDst);
+            else if (numRowsA == 3)
+                return arm_mat_mult_q15_3x3_mve(pSrcA, pSrcB, pDst);
+            else if (numRowsA == 4)
+                return arm_mat_mult_q15_4x4_mve(pSrcA, pSrcB, pDst);
+        }
+
+        /*
+         * Matrix transpose
+         */
+
+        BT.numRows = numColsB;
+        BT.numCols = numRowsB;
+        BT.pData = pSrcBT;
+
+        arm_mat_trans_q15(pSrcB, &BT);
+
+
+        /*
+         * Reset the variables for the usage in the following multiplication process
+         */
+        i = 0;
+        row = numRowsA >> 1;
+        px = pDst->pData;
+        px2 = px + numColsB;
+
+        /*
+         * The following loop performs the dot-product of each row in pSrcA with each column in pSrcB
+         */
+
+        /*
+         * row loop
+         */
+        while (row > 0u) {
+            /*
+             * For every row wise process, the column loop counter is to be initiated
+             */
+            col = numColsB >> 1;
+            /*
+             * For every row wise process, the pIn2 pointer is set
+             * to the starting address of the transposed pSrcB data
+             */
+            pInB = pSrcBT;
+            pInB2 = pInB + numRowsB;
+            j = 0;
+
+            /*
+             * column loop
+             */
+            while (col > 0u) {
+                q15_t const    *pSrcAVec, *pSrcBVec, *pSrcA2Vec, *pSrcB2Vec;
+                q15x8_t         vecA, vecA2, vecB, vecB2;
+                q63_t           acc0, acc1, acc2, acc3;
+
+                /*
+                 * Initiate the pointer pIn1 to point to the starting address of the column being processed
+                 */
+                pInA = pSrcA->pData + i;
+                pInA2 = pInA + numColsA;
+                pInB = pSrcBT + j;
+                pInB2 = pInB + numRowsB;
+
+
+                pSrcAVec = (q15_t const *) pInA;
+                pSrcA2Vec = (q15_t const *) pInA2;
+                pSrcBVec = (q15_t const *) pInB;
+                pSrcB2Vec = (q15_t const *) pInB2;
+
+                acc0 = 0LL;
+                acc1 = 0LL;
+                acc2 = 0LL;
+                acc3 = 0LL;
+
+                vecA = vld1q(pSrcAVec);
+                pSrcAVec += 8;
+
+                blkCnt = numColsA / 8;
+                while (blkCnt > 0U) {
+                    vecB = vld1q(pSrcBVec);
+                    pSrcBVec += 8;
+                    acc0 = vmlaldavaq(acc0, vecA, vecB);
+                    vecA2 = vld1q(pSrcA2Vec);
+                    pSrcA2Vec += 8;
+                    acc1 = vmlaldavaq(acc1, vecA2, vecB);
+                    vecB2 = vld1q(pSrcB2Vec);
+                    pSrcB2Vec += 8;
+                    acc2 = vmlaldavaq(acc2, vecA, vecB2);
+                    vecA = vld1q(pSrcAVec);
+                    pSrcAVec += 8;
+                    acc3 = vmlaldavaq(acc3, vecA2, vecB2);
+
+                    blkCnt--;
+                }
+                /*
+                 * tail
+                 */
+                blkCnt = numColsA & 7;
+                if (blkCnt > 0U) {
+                    mve_pred16_t    p0 = vctp16q(blkCnt);
+                    vecB = vld1q(pSrcBVec);
+                    acc0 = vmlaldavaq_p(acc0, vecA, vecB, p0);
+                    vecA2 = vld1q(pSrcA2Vec);
+                    acc1 = vmlaldavaq_p(acc1, vecA2, vecB, p0);
+                    vecB2 = vld1q(pSrcB2Vec);
+                    acc2 = vmlaldavaq_p(acc2, vecA, vecB2, p0);
+                    vecA = vld1q(pSrcAVec);
+                    acc3 = vmlaldavaq_p(acc3, vecA2, vecB2, p0);
+                }
+
+                *px++ = (q15_t) MVE_ASRL_SAT16(acc0, 15);
+                *px++ = (q15_t) MVE_ASRL_SAT16(acc2, 15);
+                *px2++ = (q15_t) MVE_ASRL_SAT16(acc1, 15);
+                *px2++ = (q15_t) MVE_ASRL_SAT16(acc3, 15);
+                j += numRowsB * 2;
+                /*
+                 * Decrement the column loop counter
+                 */
+                col--;
+
+            }
+
+            i = i + numColsA * 2;
+            px = px2 + (numColsB & 1u);
+            px2 = px + numColsB;
+            /*
+             * Decrement the row loop counter
+             */
+            row--;
+        }
+
+        /*
+         * Compute remaining row and/or column below
+         */
+
+        if (numColsB & 1u) {
+            row = numRowsA & (~0x1);    //avoid redundant computation
+            px = pDst->pData + numColsB - 1;
+            i = 0;
+
+            /*
+             * row loop
+             */
+            while (row > 0) {
+                q15_t const    *pSrcAVec, *pSrcBVec;
+                q15x8_t         vecA, vecB;
+                q63_t           acc0;
+
+                /*
+                 * point to last column in matrix B
+                 */
+                pInB = pSrcBT + numRowsB * (numColsB - 1);
+                pInA = pSrcA->pData + i;
+
+                pSrcAVec = (q15_t const *) pInA;
+                pSrcBVec = (q15_t const *) pInB;
+
+                acc0 = 0LL;
+                blkCnt = (numColsA) / 8;
+                while (blkCnt > 0U) {
+                    vecA = vld1q(pSrcAVec);
+                    pSrcAVec += 8;
+                    vecB = vld1q(pSrcBVec);
+                    pSrcBVec += 8;
+                    acc0 = vmlaldavaq(acc0, vecA, vecB);
+
+                    blkCnt--;
+                }
+                /*
+                 * tail
+                 */
+                blkCnt = (numColsA & 7);
+                if (blkCnt > 0U) {
+                    mve_pred16_t    p0 = vctp16q(blkCnt);
+                    vecA = vld1q(pSrcAVec);
+                    vecB = vld1q(pSrcBVec);
+                    acc0 = vmlaldavaq_p(acc0, vecA, vecB, p0);
+                }
+
+                *px = (q15_t) MVE_ASRL_SAT16(acc0, 15);
+
+                px += numColsB;
+
+                i += numColsA;
+                /*
+                 * Decrement the row loop counter
+                 */
+                row--;
+            }
+        }
+
+        if (numRowsA & 1u) {
+            col = numColsB;
+            i = 0u;
+            /*
+             * point to last row in output matrix
+             */
+            px = pDst->pData + (numColsB) * (numRowsA - 1);
+            /*
+             * col loop
+             */
+            while (col > 0) {
+                q15_t const    *pSrcAVec, *pSrcBVec;
+                q15x8_t         vecA, vecB;
+                q63_t           acc0;
+
+                /*
+                 * point to last row in matrix A
+                 */
+                pInA = pSrcA->pData + (numRowsA - 1) * numColsA;
+                pInB = pSrcBT + i;
+
+                /*
+                 * Set the variable sum, that acts as accumulator, to zero
+                 */
+                pSrcAVec = (q15_t const *) pInA;
+                pSrcBVec = (q15_t const *) pInB;
+                acc0 = 0LL;
+
+                blkCnt = ((numColsA) / 8);
+                while (blkCnt > 0U) {
+                    vecA = vld1q(pSrcAVec);
+                    pSrcAVec += 8;
+                    vecB = vld1q(pSrcBVec);
+                    pSrcBVec += 8;
+                    acc0 = vmlaldavaq(acc0, vecA, vecB);
+
+                    blkCnt--;
+                }
+                /*
+                 * tail
+                 */
+                blkCnt = (numColsA & 7);
+                if (blkCnt > 0U) {
+                    mve_pred16_t    p0 = vctp16q(blkCnt);
+                    vecA = vld1q(pSrcAVec);
+                    vecB = vld1q(pSrcBVec);
+                    acc0 = vmlaldavaq_p(acc0, vecA, vecB, p0);
+                }
+
+                *px++ = (q15_t) MVE_ASRL_SAT16(acc0, 15);
+
+                i += numColsA;
+
+                /*
+                 * Decrement the col loop counter
+                 */
+                col--;
+            }
+        }
+
+        /* Set status as ARM_MATH_SUCCESS */
+        status = ARM_MATH_SUCCESS;
+    }
+    /* Return to application */
+    return (status);
+}
+
+#else 
+arm_status arm_mat_mult_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+        arm_matrix_instance_q15 * pDst,
+        q15_t                   * pState)
+{
+        q63_t sum;                                     /* Accumulator */
+
+#if defined (ARM_MATH_DSP)                             /* != CM0 */
+
+        q15_t *pSrcBT = pState;                        /* Input data matrix pointer for transpose */
+        q15_t *pInA = pSrcA->pData;                    /* Input data matrix pointer A of Q15 type */
+        q15_t *pInB = pSrcB->pData;                    /* Input data matrix pointer B of Q15 type */
+        q15_t *px;                                     /* Temporary output data matrix pointer */
+        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 numRowsB = pSrcB->numRows;            /* Number of rows of input matrix B */
+        uint32_t col, i = 0U, row = numRowsB, colCnt;  /* Loop counters */
+        arm_status status;                             /* Status of matrix multiplication */
+
+        q31_t inA1, inB1, inA2, inB2;
+        arm_matrix_instance_q15 BT;
+
+#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 */
+  {
+
+    BT.numRows = numColsB;
+    BT.numCols = numRowsB;
+    BT.pData = pSrcBT;
+
+    arm_mat_trans_q15(pSrcB,&BT);
+    /* Reset variables for usage in following multiplication process */
+    row = numRowsA;
+    i = 0U;
+    px = pDst->pData;
+
+    /* The following loop performs the dot-product of each row in pSrcA with each column in pSrcB */
+    /* row loop */
+    do
+    {
+      /* 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 transposed pSrcB data */
+      pInB = pSrcBT;
+
+      /* column loop */
+      do
+      {
+        /* Set variable sum, that acts as accumulator, to zero */
+        sum = 0;
+
+        /* Initiate pointer pInA to point to starting address of column being processed */
+        pInA = pSrcA->pData + i;
+
+        /* Apply loop unrolling and compute 2 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) */
+
+          /* read real and imag values from pSrcA and pSrcB buffer */
+          inA1 = read_q15x2_ia (&pInA);
+          inB1 = read_q15x2_ia (&pInB);
+
+          inA2 = read_q15x2_ia (&pInA);
+          inB2 = read_q15x2_ia (&pInB);
+
+          /* Multiply and Accumulates */
+          sum = __SMLALD(inA1, inB1, sum);
+          sum = __SMLALD(inA2, inB2, sum);
+
+          /* Decrement loop counter */
+          colCnt--;
+        }
+
+        /* process remaining column samples */
+        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 += *pInA++ * *pInB++;
+
+          /* Decrement loop counter */
+          colCnt--;
+        }
+
+        /* Saturate and store result in destination buffer */
+        *px = (q15_t) (__SSAT((sum >> 15), 16));
+        px++;
+
+        /* Decrement column loop counter */
+        col--;
+
+      } while (col > 0U);
+
+      i = i + numColsA;
+
+      /* Decrement row loop counter */
+      row--;
+
+    } while (row > 0U);
+
+#else /* #if defined (ARM_MATH_DSP) */
+
+        q15_t *pIn1 = pSrcA->pData;                    /* Input data matrix pointer A */
+        q15_t *pIn2 = pSrcB->pData;                    /* Input data matrix pointer B */
+        q15_t *pInA = pSrcA->pData;                    /* Input data matrix pointer A of Q15 type */
+        q15_t *pInB = pSrcB->pData;                    /* Input data matrix pointer B of Q15 type */
+        q15_t *pOut = pDst->pData;                     /* Output data matrix pointer */
+        q15_t *px;                                     /* Temporary output data matrix pointer */
+        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 numRowsA = pSrcA->numRows;            /* Number of rows of input matrix A    */
+        uint32_t col, i = 0U, row = numRowsA, colCnt;  /* Loop counters */
+        arm_status status;                             /* Status of matrix multiplication */
+        (void)pState;
+
+#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 the 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;
+
+        /* Initiate pointer pIn1 to point to starting address of pSrcA */
+        pIn1 = pInA;
+
+        /* Matrix A columns number of MAC operations are to be performed */
+        colCnt = numColsA;
+
+        /* 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 multiply-accumulates */
+          sum += (q31_t) * pIn1++ * *pIn2;
+          pIn2 += numColsB;
+
+          /* Decrement loop counter */
+          colCnt--;
+        }
+
+        /* Convert result from 34.30 to 1.15 format and store saturated value in destination buffer */
+
+        /* Saturate and store result in destination buffer */
+        *px++ = (q15_t) __SSAT((sum >> 15), 16);
+
+        /* 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 pSrcA to point to starting address of next row */
+      i = i + numColsB;
+      pInA = pInA + numColsA;
+
+      /* Decrement row loop counter */
+      row--;
+
+    } while (row > 0U);
+
+#endif /* #if defined (ARM_MATH_DSP) */
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+#endif /* defined(ARM_MATH_MVEI) */
+
+/**
+  @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_q31.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_q31.c
new file mode 100644
index 0000000..1873827
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_q31.c
@@ -0,0 +1,761 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_mult_q31.c
+ * Description:  Q31 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"
+
+/**
+  @ingroup groupMatrix
+ */
+
+/**
+  @addtogroup MatrixMult
+  @{
+ */
+
+/**
+  @brief         Q31 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        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+  @par           Scaling and Overflow Behavior
+                   The function is implemented using an internal 64-bit accumulator.
+                   The accumulator has a 2.62 format and maintains full precision of the intermediate
+                   multiplication results but provides only a single guard bit. There is no saturation
+                   on intermediate additions. Thus, if the accumulator overflows it wraps around and
+                   distorts the result. The input signals should be scaled down to avoid intermediate
+                   overflows. The input is thus scaled down by log2(numColsA) bits
+                   to avoid overflows, as a total of numColsA additions are performed internally.
+                   The 2.62 accumulator is right shifted by 31 bits and saturated to 1.31 format to yield the final result.
+  @remark
+                   Refer to \ref arm_mat_mult_fast_q31() for a faster but less precise implementation of this function.
+ */
+#if defined(ARM_MATH_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#define MATRIX_DIM2 2
+#define MATRIX_DIM3 3
+#define MATRIX_DIM4 4
+
+__STATIC_INLINE arm_status arm_mat_mult_q31_2x2_mve(
+    const arm_matrix_instance_q31 * pSrcA,
+    const arm_matrix_instance_q31 * pSrcB,
+    arm_matrix_instance_q31 * pDst)
+{
+    q31_t       *pInB = pSrcB->pData;  /* input data matrix pointer B */
+    q31_t       *pInA = pSrcA->pData;  /* input data matrix pointer A */
+    q31_t       *pOut = pDst->pData;   /* output data matrix pointer */
+    uint32x4_t   vecColBOffs;
+    q31_t       *pInA0 = pInA;
+    q31_t       *pInA1 = pInA0 + MATRIX_DIM2;
+    q63_t        acc0, acc1;
+    q31x4_t      vecB, vecA0, vecA1;
+    /* enable predication to disable half of vector elements */
+    mve_pred16_t p0 = vctp32q(MATRIX_DIM2);
+
+    vecColBOffs = vidupq_u32((uint32_t)0, 1);
+    vecColBOffs = vecColBOffs * MATRIX_DIM2;
+
+    pInB = pSrcB->pData;
+
+    /* load 1st B column (partial load) */
+    vecB = vldrwq_gather_shifted_offset_z_s32(pInB, vecColBOffs, p0);
+
+    /* load A rows */
+    vecA0 = vldrwq_s32(pInA0);
+    vecA1 = vldrwq_s32(pInA1);
+
+    acc0 = vrmlaldavhq(vecA0, vecB);
+    acc1 = vrmlaldavhq(vecA1, vecB);
+
+    acc0 = asrl(acc0, 23);
+    acc1 = asrl(acc1, 23);
+
+    pOut[0 * MATRIX_DIM2] = (q31_t) acc0;
+    pOut[1 * MATRIX_DIM2] = (q31_t) acc1;
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrwq_gather_shifted_offset_z_s32(pInB, vecColBOffs, p0);
+
+    acc0 = vrmlaldavhq(vecA0, vecB);
+    acc1 = vrmlaldavhq(vecA1, vecB);
+
+    acc0 = asrl(acc0, 23);
+    acc1 = asrl(acc1, 23);
+
+    pOut[0 * MATRIX_DIM2] = (q31_t) acc0;
+    pOut[1 * MATRIX_DIM2] = (q31_t) acc1;
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+}
+
+
+
+__STATIC_INLINE arm_status arm_mat_mult_q31_3x3_mve(
+    const arm_matrix_instance_q31 * pSrcA,
+    const arm_matrix_instance_q31 * pSrcB,
+    arm_matrix_instance_q31 * pDst)
+{
+    q31_t       *pInB = pSrcB->pData;  /* input data matrix pointer B */
+    q31_t       *pInA = pSrcA->pData;  /* input data matrix pointer A */
+    q31_t       *pOut = pDst->pData;   /* output data matrix pointer */
+    uint32x4_t   vecColBOffs;
+    q31_t       *pInA0 = pInA;
+    q31_t       *pInA1 = pInA0 + MATRIX_DIM3;
+    q31_t       *pInA2 = pInA1 + MATRIX_DIM3;
+    q63_t        acc0, acc1, acc2;
+    q31x4_t      vecB, vecA;
+    /* enable predication to disable last (4th) vector element */
+    mve_pred16_t p0 = vctp32q(MATRIX_DIM3);
+
+    vecColBOffs = vidupq_u32((uint32_t)0, 1);
+    vecColBOffs = vecColBOffs * MATRIX_DIM3;
+
+    pInB = pSrcB->pData;
+
+    vecB = vldrwq_gather_shifted_offset_z_s32(pInB, vecColBOffs, p0);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA1);
+    acc1 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA2);
+    acc2 = vrmlaldavhq(vecA, vecB);
+
+    acc0 = asrl(acc0, 23);
+    acc1 = asrl(acc1, 23);
+    acc2 = asrl(acc2, 23);
+
+    pOut[0 * MATRIX_DIM3] = (q31_t) acc0;
+    pOut[1 * MATRIX_DIM3] = (q31_t) acc1;
+    pOut[2 * MATRIX_DIM3] = (q31_t) acc2;
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrwq_gather_shifted_offset_z_s32(pInB, vecColBOffs, p0);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA1);
+    acc1 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA2);
+    acc2 = vrmlaldavhq(vecA, vecB);
+
+    acc0 = asrl(acc0, 23);
+    acc1 = asrl(acc1, 23);
+    acc2 = asrl(acc2, 23);
+
+    pOut[0 * MATRIX_DIM3] = (q31_t) acc0;
+    pOut[1 * MATRIX_DIM3] = (q31_t) acc1;
+    pOut[2 * MATRIX_DIM3] = (q31_t) acc2;
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrwq_gather_shifted_offset_z_s32(pInB, vecColBOffs, p0);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA1);
+    acc1 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA2);
+    acc2 = vrmlaldavhq(vecA, vecB);
+
+    acc0 = asrl(acc0, 23);
+    acc1 = asrl(acc1, 23);
+    acc2 = asrl(acc2, 23);
+
+    pOut[0 * MATRIX_DIM3] = (q31_t) acc0;
+    pOut[1 * MATRIX_DIM3] = (q31_t) acc1;
+    pOut[2 * MATRIX_DIM3] = (q31_t) acc2;
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+}
+
+__STATIC_INLINE arm_status arm_mat_mult_q31_4x4_mve(
+    const arm_matrix_instance_q31 * pSrcA,
+    const arm_matrix_instance_q31 * pSrcB,
+    arm_matrix_instance_q31 * pDst)
+{
+    q31_t       *pInB = pSrcB->pData;  /* input data matrix pointer B */
+    q31_t       *pInA = pSrcA->pData;  /* input data matrix pointer A */
+    q31_t       *pOut = pDst->pData;   /* output data matrix pointer */
+    uint32x4_t   vecColBOffs;
+    q31_t       *pInA0 = pInA;
+    q31_t       *pInA1 = pInA0 + MATRIX_DIM4;
+    q31_t       *pInA2 = pInA1 + MATRIX_DIM4;
+    q31_t       *pInA3 = pInA2 + MATRIX_DIM4;
+    q63_t        acc0, acc1, acc2, acc3;
+    q31x4_t      vecB, vecA;
+
+    vecColBOffs = vidupq_u32((uint32_t)0, 4);
+
+    pInB = pSrcB->pData;
+
+    vecB = vldrwq_gather_shifted_offset_s32(pInB, vecColBOffs);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA1);
+    acc1 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA2);
+    acc2 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA3);
+    acc3 = vrmlaldavhq(vecA, vecB);
+
+    acc0 = asrl(acc0, 23);
+    acc1 = asrl(acc1, 23);
+    acc2 = asrl(acc2, 23);
+    acc3 = asrl(acc3, 23);
+
+    pOut[0 * MATRIX_DIM4] = (q31_t) acc0;
+    pOut[1 * MATRIX_DIM4] = (q31_t) acc1;
+    pOut[2 * MATRIX_DIM4] = (q31_t) acc2;
+    pOut[3 * MATRIX_DIM4] = (q31_t) acc3;
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrwq_gather_shifted_offset_s32(pInB, vecColBOffs);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA1);
+    acc1 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA2);
+    acc2 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA3);
+    acc3 = vrmlaldavhq(vecA, vecB);
+
+    acc0 = asrl(acc0, 23);
+    acc1 = asrl(acc1, 23);
+    acc2 = asrl(acc2, 23);
+    acc3 = asrl(acc3, 23);
+
+    pOut[0 * MATRIX_DIM4] = (q31_t) acc0;
+    pOut[1 * MATRIX_DIM4] = (q31_t) acc1;
+    pOut[2 * MATRIX_DIM4] = (q31_t) acc2;
+    pOut[3 * MATRIX_DIM4] = (q31_t) acc3;
+
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrwq_gather_shifted_offset_s32(pInB, vecColBOffs);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA1);
+    acc1 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA2);
+    acc2 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA3);
+    acc3 = vrmlaldavhq(vecA, vecB);
+
+    acc0 = asrl(acc0, 23);
+    acc1 = asrl(acc1, 23);
+    acc2 = asrl(acc2, 23);
+    acc3 = asrl(acc3, 23);
+
+    pOut[0 * MATRIX_DIM4] = (q31_t) acc0;
+    pOut[1 * MATRIX_DIM4] = (q31_t) acc1;
+    pOut[2 * MATRIX_DIM4] = (q31_t) acc2;
+    pOut[3 * MATRIX_DIM4] = (q31_t) acc3;
+
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrwq_gather_shifted_offset_s32(pInB, vecColBOffs);
+
+    vecA = vldrwq_s32(pInA0);
+    acc0 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA1);
+    acc1 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA2);
+    acc2 = vrmlaldavhq(vecA, vecB);
+    vecA = vldrwq_s32(pInA3);
+    acc3 = vrmlaldavhq(vecA, vecB);
+
+    acc0 = asrl(acc0, 23);
+    acc1 = asrl(acc1, 23);
+    acc2 = asrl(acc2, 23);
+    acc3 = asrl(acc3, 23);
+
+    pOut[0 * MATRIX_DIM4] = (q31_t) acc0;
+    pOut[1 * MATRIX_DIM4] = (q31_t) acc1;
+    pOut[2 * MATRIX_DIM4] = (q31_t) acc2;
+    pOut[3 * MATRIX_DIM4] = (q31_t) acc3;
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+}
+
+arm_status arm_mat_mult_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+        arm_matrix_instance_q31 * pDst)
+{
+    q31_t const *pInB = (q31_t const *)pSrcB->pData;  /* input data matrix pointer B */
+    q31_t const *pInA = (q31_t const *)pSrcA->pData;  /* input data matrix pointer A */
+    q31_t      *pOut = pDst->pData;   /* output data matrix pointer */
+    q31_t      *px;               /* Temporary output data matrix pointer */
+    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, row = numRowsA;  /* loop counters */
+    arm_status  status;          /* status of matrix multiplication */
+    uint32x4_t  vecOffs, vecColBOffs;
+    uint32_t    blkCnt, rowCnt;           /* loop counters */
+
+  #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)
+        {
+          q63_t sum =  (q63_t) *pInA * *pInB;
+          pOut[0] = (q31_t)(sum >> 31);
+          return (ARM_MATH_SUCCESS);
+        }
+        else if(numRowsA == 2)
+            return arm_mat_mult_q31_2x2_mve(pSrcA, pSrcB, pDst);
+        else if(numRowsA == 3)
+            return arm_mat_mult_q31_3x3_mve(pSrcA, pSrcB, pDst);
+        else if (numRowsA == 4)
+            return arm_mat_mult_q31_4x4_mve(pSrcA, pSrcB, pDst);
+    }
+
+    vecColBOffs = vidupq_u32((uint32_t)0, 1);
+    vecColBOffs = vecColBOffs * (uint32_t) (numColsB);
+
+    /*
+     * The following loop performs the dot-product of each row in pSrcA with each column in pSrcB
+     */
+
+    /*
+     * row loop
+     */
+    rowCnt = row >> 2;
+    while (rowCnt > 0U)
+    {
+        /*
+         * Output pointer is set to starting address of the row being processed
+         */
+        px = pOut + i;
+        i = i + 4 * numColsB;
+        /*
+         * For every row wise process, the column loop counter is to be initiated
+         */
+        col = numColsB;
+        /*
+         * For every row wise process, the pInB pointer is set
+         * to the starting address of the pSrcB data
+         */
+        pInB = (q31_t const *)pSrcB->pData;
+        /*
+         * column loop
+         */
+        while (col > 0U)
+        {
+                    /*
+             * generate 4 columns elements
+             */
+            /*
+             * Matrix A columns number of MAC operations are to be performed
+             */
+
+            q31_t const *pSrcA0Vec, *pSrcA1Vec, *pSrcA2Vec, *pSrcA3Vec;
+            q31_t const   *pInA0 = pInA;
+            q31_t const   *pInA1 = pInA0 + numColsA;
+            q31_t const   *pInA2 = pInA1 + numColsA;
+            q31_t const   *pInA3 = pInA2 + numColsA;
+            q63_t          acc0, acc1, acc2, acc3;
+
+            acc0 = 0LL;
+            acc1 = 0LL;
+            acc2 = 0LL;
+            acc3 = 0LL;
+
+            pSrcA0Vec = (q31_t const *) pInA0;
+            pSrcA1Vec = (q31_t const *) pInA1;
+            pSrcA2Vec = (q31_t const *) pInA2;
+            pSrcA3Vec = (q31_t const *) pInA3;
+
+            vecOffs = vecColBOffs;
+
+            /* process 1 x 4 block output */
+            blkCnt = numColsA >> 2;
+            while (blkCnt > 0U)
+            {
+                q31x4_t vecB, vecA;
+
+                vecB = vldrwq_gather_shifted_offset(pInB, vecOffs);
+                /* move Matrix B read offsets, 4 rows down */
+                vecOffs = vecOffs + (uint32_t) (numColsB * 4);
+
+                vecA = vld1q(pSrcA0Vec);  pSrcA0Vec += 4;
+                acc0 = vrmlaldavhaq(acc0, vecA, vecB);
+                vecA = vld1q(pSrcA1Vec);  pSrcA1Vec += 4;
+                acc1 = vrmlaldavhaq(acc1, vecA, vecB);
+                vecA = vld1q(pSrcA2Vec);  pSrcA2Vec += 4;
+                acc2 = vrmlaldavhaq(acc2, vecA, vecB);
+                vecA = vld1q(pSrcA3Vec);  pSrcA3Vec += 4;
+                acc3 = vrmlaldavhaq(acc3, vecA, vecB);
+                blkCnt--;
+            }
+
+            /*
+             * tail
+             * (will be merged thru tail predication)
+             */
+            blkCnt = numColsA & 3;
+            if (blkCnt > 0U)
+            {
+                mve_pred16_t p0 = vctp32q(blkCnt);
+                q31x4_t   vecB, vecA;
+
+                vecB = vldrwq_gather_shifted_offset_z(pInB, vecOffs, p0);
+                //vecOffs = vecOffs + (uint32_t) (numColsB * 4);
+
+                vecA = vld1q(pSrcA0Vec);  pSrcA0Vec += 4;
+                acc0 = vrmlaldavhaq(acc0, vecA, vecB);
+                vecA = vld1q(pSrcA1Vec);  pSrcA1Vec += 4;
+                acc1 = vrmlaldavhaq(acc1, vecA, vecB);
+                vecA = vld1q(pSrcA2Vec);  pSrcA2Vec += 4;
+                acc2 = vrmlaldavhaq(acc2, vecA, vecB);
+                vecA = vld1q(pSrcA3Vec);  pSrcA3Vec += 4;
+                acc3 = vrmlaldavhaq(acc3, vecA, vecB);
+            }
+
+            acc0 = asrl(acc0, 23);
+            acc1 = asrl(acc1, 23);
+            acc2 = asrl(acc2, 23);
+            acc3 = asrl(acc3, 23);
+
+            px[0] = (q31_t) acc0;
+            px[1 * numColsB] = (q31_t) acc1;
+            px[2 * numColsB] = (q31_t) acc2;
+            px[3 * numColsB] = (q31_t) acc3;
+            px++;
+            /*
+             * Decrement the column loop counter
+             */
+            col--;
+            /*
+             * Update the pointer pInB to point to the  starting address of the next column
+             */
+            pInB = (q31_t const *)pSrcB->pData + (numColsB - col);
+        }
+
+        /*
+         * Update the pointer pInA to point to the  starting address of the next row
+         */
+        pInA += (numColsA * 4);
+        /*
+         * Decrement the row loop counter
+         */
+        rowCnt --;
+
+    }
+    rowCnt = row & 3;
+    while (rowCnt > 0U)
+    {
+             /*
+         * Output pointer is set to starting address of the row being processed
+         */
+        px = pOut + i;
+        i = i + numColsB;
+        /*
+         * For every row wise process, the column loop counter is to be initiated
+         */
+        col = numColsB;
+        /*
+         * For every row wise process, the pInB pointer is set
+         * to the starting address of the pSrcB data
+         */
+        pInB = (q31_t const *)pSrcB->pData;
+        /*
+         * column loop
+         */
+        while (col > 0U)
+        {
+            /*
+             * generate 4 columns elements
+             */
+            /*
+             * Matrix A columns number of MAC operations are to be performed
+             */
+
+            q31_t const *pSrcA0Vec;
+            q31_t const   *pInA0 = pInA;
+            q63_t          acc0;
+
+            acc0 = 0LL;
+           
+
+            pSrcA0Vec = (q31_t const *) pInA0;
+           
+            vecOffs = vecColBOffs;
+
+            /* process 1 x 4 block output */
+            blkCnt = numColsA >> 2;
+            while (blkCnt > 0U)
+            {
+                q31x4_t vecB, vecA;
+
+                vecB = vldrwq_gather_shifted_offset(pInB, vecOffs);
+                /* move Matrix B read offsets, 4 rows down */
+                vecOffs = vecOffs + (uint32_t) (numColsB * 4);
+
+                vecA = vld1q(pSrcA0Vec);  pSrcA0Vec += 4;
+                acc0 = vrmlaldavhaq(acc0, vecA, vecB);
+              
+                blkCnt--;
+            }
+
+            /*
+             * tail
+             * (will be merged thru tail predication)
+             */
+            blkCnt = numColsA & 3;
+            if (blkCnt > 0U)
+            {
+                mve_pred16_t p0 = vctp32q(blkCnt);
+                q31x4_t   vecB, vecA;
+
+                vecB = vldrwq_gather_shifted_offset_z(pInB, vecOffs, p0);
+                //vecOffs = vecOffs + (uint32_t) (numColsB * 4);
+
+                vecA = vld1q(pSrcA0Vec);  
+                pSrcA0Vec += 4;
+                acc0 = vrmlaldavhaq(acc0, vecA, vecB);
+                
+            }
+
+            acc0 = asrl(acc0, 23);
+           
+
+            px[0] = (q31_t) acc0;
+            px++;
+            /*
+             * Decrement the column loop counter
+             */
+            col--;
+            /*
+             * Update the pointer pInB to point to the  starting address of the next column
+             */
+            pInB = (q31_t const *)pSrcB->pData + (numColsB - col);
+        }
+
+        /*
+         * Update the pointer pInA to point to the  starting address of the next row
+         */
+        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_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+        arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pIn1 = pSrcA->pData;                    /* Input data matrix pointer A */
+  q31_t *pIn2 = pSrcB->pData;                    /* Input data matrix pointer B */
+  q31_t *pInA = pSrcA->pData;                    /* Input data matrix pointer A */
+  q31_t *pInB = pSrcB->pData;                    /* Input data matrix pointer B */
+  q31_t *pOut = pDst->pData;                     /* Output data matrix pointer */
+  q31_t *px;                                     /* Temporary output data matrix pointer */
+  q63_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;
+
+        /* 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 += (q63_t) *pIn1++ * *pIn2;
+          pIn2 += numColsB;
+
+          sum += (q63_t) *pIn1++ * *pIn2;
+          pIn2 += numColsB;
+
+          sum += (q63_t) *pIn1++ * *pIn2;
+          pIn2 += numColsB;
+
+          sum += (q63_t) *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 += (q63_t) *pIn1++ * *pIn2;
+          pIn2 += numColsB;
+
+          /* Decrement loop counter */
+          colCnt--;
+        }
+
+        /* Convert result from 2.62 to 1.31 format and store in destination buffer */
+        *px++ = (q31_t) (sum >> 31);
+
+        /* 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 /* defined(ARM_MATH_MVEI) */
+
+/**
+  @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_q7.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_q7.c
new file mode 100644
index 0000000..3ce0fe6
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_mult_q7.c
@@ -0,0 +1,678 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_mult_q7.c
+ * Description:  Q15 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"
+
+/**
+  @ingroup groupMatrix
+ */
+
+/**
+  @addtogroup MatrixMult
+  @{
+ */
+
+/**
+ * @brief Q7 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
+ * @param[in]       *pState points to the array for storing intermediate results (Unused in some versions)
+ * @return          The function returns either
+ * <code>ARM_MATH_SIZE_MISMATCH</code> or <code>ARM_MATH_SUCCESS</code> based on the outcome of size checking.
+ *
+ * @details
+ * <b>Scaling and Overflow Behavior:</b>
+ *
+ * \par
+ * The function is implemented using a 32-bit internal accumulator saturated to 1.7 format.
+ *
+ *
+ */
+#if defined(ARM_MATH_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+__STATIC_FORCEINLINE arm_status arm_mat_mult_q7_2x2_mve(
+    const arm_matrix_instance_q7 * pSrcA,
+    const arm_matrix_instance_q7 * pSrcB,
+    arm_matrix_instance_q7 * pDst)
+{
+    const uint32_t MATRIX_DIM = 2;
+    q7_t const *pInB = (q7_t const *)pSrcB->pData;  /* input data matrix pointer B */
+    q7_t       *pInA = pSrcA->pData;  /* input data matrix pointer A */
+    q7_t       *pOut = pDst->pData;   /* output data matrix pointer */
+    uint8x16_t vecColBOffs;
+    q7_t       *pInA0 = pInA;
+    q7_t       *pInA1 = pInA0 + MATRIX_DIM;
+    q31_t       acc0, acc1;
+    q7x16_t    vecB, vecA0, vecA1;
+    mve_pred16_t p0 = vctp8q(MATRIX_DIM);
+
+    vecColBOffs = vidupq_u8((uint32_t)0, 2); /* MATRIX_DIM */
+
+    pInB = pSrcB->pData;
+
+    vecB = vldrbq_gather_offset_z(pInB, vecColBOffs, p0);
+
+    vecA0 = vldrbq_s8(pInA0);
+    vecA1 = vldrbq_s8(pInA1);
+
+    acc0 = vmladavq_s8(vecA0, vecB);
+    acc1 = vmladavq_s8(vecA1, vecB);
+
+    pOut[0 * MATRIX_DIM] = (q7_t) __SSAT(acc0 >> 7, 8);
+    pOut[1 * MATRIX_DIM] = (q7_t) __SSAT(acc1 >> 7, 8);
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrbq_gather_offset_z(pInB, vecColBOffs, p0);
+
+    acc0 = vmladavq_s8(vecA0, vecB);
+    acc1 = vmladavq_s8(vecA1, vecB);
+
+    pOut[0 * MATRIX_DIM] = (q7_t) __SSAT(acc0 >> 7, 8);
+    pOut[1 * MATRIX_DIM] = (q7_t) __SSAT(acc1 >> 7, 8);
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+}
+
+
+__STATIC_FORCEINLINE arm_status arm_mat_mult_q7_3x3_mve(
+    const arm_matrix_instance_q7 * pSrcA,
+    const arm_matrix_instance_q7 * pSrcB,
+    arm_matrix_instance_q7 * pDst)
+{
+    const uint8_t  MATRIX_DIM = 3;
+    q7_t const     *pInB = (q7_t const *)pSrcB->pData;  /* input data matrix pointer B */
+    q7_t           *pInA = pSrcA->pData;  /* input data matrix pointer A */
+    q7_t           *pOut = pDst->pData;   /* output data matrix pointer */
+    uint8x16_t     vecColBOffs;
+    q7_t           *pInA0 = pInA;
+    q7_t           *pInA1 = pInA0 + MATRIX_DIM;
+    q7_t           *pInA2 = pInA1 + MATRIX_DIM;
+    q31_t           acc0, acc1, acc2;
+    q7x16_t        vecB, vecA0, vecA1, vecA2;
+    mve_pred16_t    p0 = vctp8q(MATRIX_DIM);
+
+    vecColBOffs = vidupq_u8((uint32_t)0, 1);
+    vecColBOffs = vecColBOffs * MATRIX_DIM;
+
+    pInB = pSrcB->pData;
+
+    vecB = vldrbq_gather_offset_z(pInB, vecColBOffs, p0);
+
+    vecA0 = vldrbq_s8(pInA0);
+    vecA1 = vldrbq_s8(pInA1);
+    vecA2 = vldrbq_s8(pInA2);
+
+    acc0 = vmladavq_s8(vecA0, vecB);
+    acc1 = vmladavq_s8(vecA1, vecB);
+    acc2 = vmladavq_s8(vecA2, vecB);
+
+    pOut[0 * MATRIX_DIM] = (q7_t) __SSAT(acc0 >> 7, 8);
+    pOut[1 * MATRIX_DIM] = (q7_t) __SSAT(acc1 >> 7, 8);
+    pOut[2 * MATRIX_DIM] = (q7_t) __SSAT(acc2 >> 7, 8);
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrbq_gather_offset_z(pInB, vecColBOffs, p0);
+
+    acc0 = vmladavq_s8(vecA0, vecB);
+    acc1 = vmladavq_s8(vecA1, vecB);
+    acc2 = vmladavq_s8(vecA2, vecB);
+
+    pOut[0 * MATRIX_DIM] = (q7_t) __SSAT(acc0 >> 7, 8);
+    pOut[1 * MATRIX_DIM] = (q7_t) __SSAT(acc1 >> 7, 8);
+    pOut[2 * MATRIX_DIM] = (q7_t) __SSAT(acc2 >> 7, 8);
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrbq_gather_offset_z(pInB, vecColBOffs, p0);
+
+    acc0 = vmladavq_s8(vecA0, vecB);
+    acc1 = vmladavq_s8(vecA1, vecB);
+    acc2 = vmladavq_s8(vecA2, vecB);
+
+    pOut[0 * MATRIX_DIM] = (q7_t) __SSAT(acc0 >> 7, 8);
+    pOut[1 * MATRIX_DIM] = (q7_t) __SSAT(acc1 >> 7, 8);
+    pOut[2 * MATRIX_DIM] = (q7_t) __SSAT(acc2 >> 7, 8);
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+}
+
+
+__STATIC_FORCEINLINE arm_status arm_mat_mult_q7_4x4_mve(
+    const arm_matrix_instance_q7 * pSrcA,
+    const arm_matrix_instance_q7 * pSrcB,
+    arm_matrix_instance_q7 * pDst)
+{
+    const uint32_t MATRIX_DIM = 4;
+    q7_t const *pInB = (q7_t const *)pSrcB->pData;  /* input data matrix pointer B */
+    q7_t       *pInA = pSrcA->pData;  /* input data matrix pointer A */
+    q7_t       *pOut = pDst->pData;   /* output data matrix pointer */
+    uint8x16_t vecColBOffs;
+    q7_t       *pInA0 = pInA;
+    q7_t       *pInA1 = pInA0 + MATRIX_DIM;
+    q7_t       *pInA2 = pInA1 + MATRIX_DIM;
+    q7_t       *pInA3 = pInA2 + MATRIX_DIM;
+    q31_t       acc0, acc1, acc2, acc3;
+    q7x16_t    vecB, vecA0, vecA1, vecA2, vecA3;
+    mve_pred16_t p0 = vctp8q(MATRIX_DIM);
+
+    vecColBOffs = vidupq_u8((uint32_t)0, 4);
+
+    pInB = pSrcB->pData;
+
+    vecB = vldrbq_gather_offset_z(pInB, vecColBOffs, p0);
+
+    vecA0 = vldrbq_s8(pInA0);
+    vecA1 = vldrbq_s8(pInA1);
+    vecA2 = vldrbq_s8(pInA2);
+    vecA3 = vldrbq_s8(pInA3);
+
+    acc0 = vmladavq_s8(vecA0, vecB);
+    acc1 = vmladavq_s8(vecA1, vecB);
+    acc2 = vmladavq_s8(vecA2, vecB);
+    acc3 = vmladavq_s8(vecA3, vecB);
+
+    pOut[0 * MATRIX_DIM] = (q7_t) __SSAT(acc0 >> 7, 8);
+    pOut[1 * MATRIX_DIM] = (q7_t) __SSAT(acc1 >> 7, 8);
+    pOut[2 * MATRIX_DIM] = (q7_t) __SSAT(acc2 >> 7, 8);
+    pOut[3 * MATRIX_DIM] = (q7_t) __SSAT(acc3 >> 7, 8);
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrbq_gather_offset_z(pInB, vecColBOffs, p0);
+
+    acc0 = vmladavq_s8(vecA0, vecB);
+    acc1 = vmladavq_s8(vecA1, vecB);
+    acc2 = vmladavq_s8(vecA2, vecB);
+    acc3 = vmladavq_s8(vecA3, vecB);
+
+    pOut[0 * MATRIX_DIM] = (q7_t) __SSAT(acc0 >> 7, 8);
+    pOut[1 * MATRIX_DIM] = (q7_t) __SSAT(acc1 >> 7, 8);
+    pOut[2 * MATRIX_DIM] = (q7_t) __SSAT(acc2 >> 7, 8);
+    pOut[3 * MATRIX_DIM] = (q7_t) __SSAT(acc3 >> 7, 8);
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrbq_gather_offset_z(pInB, vecColBOffs, p0);
+
+    acc0 = vmladavq_s8(vecA0, vecB);
+    acc1 = vmladavq_s8(vecA1, vecB);
+    acc2 = vmladavq_s8(vecA2, vecB);
+    acc3 = vmladavq_s8(vecA3, vecB);
+
+    pOut[0 * MATRIX_DIM] = (q7_t) __SSAT(acc0 >> 7, 8);
+    pOut[1 * MATRIX_DIM] = (q7_t) __SSAT(acc1 >> 7, 8);
+    pOut[2 * MATRIX_DIM] = (q7_t) __SSAT(acc2 >> 7, 8);
+    pOut[3 * MATRIX_DIM] = (q7_t) __SSAT(acc3 >> 7, 8);
+    pOut++;
+
+    /* move to next B column */
+    pInB = pInB + 1;
+
+    vecB = vldrbq_gather_offset_z(pInB, vecColBOffs, p0);
+
+    acc0 = vmladavq_s8(vecA0, vecB);
+    acc1 = vmladavq_s8(vecA1, vecB);
+    acc2 = vmladavq_s8(vecA2, vecB);
+    acc3 = vmladavq_s8(vecA3, vecB);
+
+    pOut[0 * MATRIX_DIM] = (q7_t) __SSAT(acc0 >> 7, 8);
+    pOut[1 * MATRIX_DIM] = (q7_t) __SSAT(acc1 >> 7, 8);
+    pOut[2 * MATRIX_DIM] = (q7_t) __SSAT(acc2 >> 7, 8);
+    pOut[3 * MATRIX_DIM] = (q7_t) __SSAT(acc3 >> 7, 8);
+    /*
+     * Return to application
+     */
+    return (ARM_MATH_SUCCESS);
+}
+
+arm_status arm_mat_mult_q7(
+    const arm_matrix_instance_q7 * pSrcA,
+    const arm_matrix_instance_q7 * pSrcB,
+    arm_matrix_instance_q7 * pDst,
+    q7_t * pState)
+{
+    q7_t    *pInA = pSrcA->pData;  /* input data matrix pointer A of Q7 type */
+    q7_t    *pInB = pSrcB->pData;  /* input data matrix pointer B of Q7 type */
+    q7_t    *pInA2;
+    q7_t    *pInB2;
+    q7_t    *px;               /* Temporary output data matrix pointer */
+    q7_t    *px2;              /* Temporary output data matrix pointer */
+    uint32_t  numRowsA = pSrcA->numRows;    /* number of rows of input matrix A    */
+    uint32_t  numColsB = pSrcB->numCols;    /* number of columns of input matrix B */
+    uint32_t  numColsA = pSrcA->numCols;    /* number of columns of input matrix A */
+    uint32_t  numRowsB = pSrcB->numRows;    /* number of rows of input matrix A    */
+    uint32_t  col, i = 0u, j, row = numRowsB;   /* loop counters */
+    q7_t    *pSrcBT = pState;   /* input data matrix pointer for transpose */
+    uint32_t  blkCnt;           /* loop counters */
+    arm_status status;                            /* status of matrix multiplication */
+    arm_matrix_instance_q7 BT;
+
+
+   #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 == 2)
+            return arm_mat_mult_q7_2x2_mve(pSrcA, pSrcB, pDst);
+        else if(numRowsA == 3)
+            return arm_mat_mult_q7_3x3_mve(pSrcA, pSrcB, pDst);
+        else if (numRowsA == 4)
+            return arm_mat_mult_q7_4x4_mve(pSrcA, pSrcB, pDst);
+    }
+    /*
+     * Matrix transpose
+     */
+
+    BT.numRows = numColsB;
+    BT.numCols = numRowsB;
+    BT.pData = pSrcBT;
+
+    arm_mat_trans_q7(pSrcB, &BT);
+
+    /*
+     * Reset the variables for the usage in the following multiplication process
+     */
+    i = 0;
+    row = numRowsA >> 1;
+    px = pDst->pData;
+    px2 = px + numColsB;
+
+    /*
+     * The following loop performs the dot-product of each row in pSrcA with each column in pSrcB
+     */
+
+    /*
+     * row loop
+     */
+    while (row > 0u)
+    {
+        /*
+         * For every row wise process, the column loop counter is to be initiated
+         */
+        col = numColsB >> 1;
+        /*
+         * For every row wise process, the pIn2 pointer is set
+         * to the starting address of the transposed pSrcB data
+         */
+        pInB = pSrcBT;
+        pInB2 = pInB + numRowsB;
+        j = 0;
+
+        /*
+         * column loop
+         */
+        while (col > 0u)
+        {
+            q7_t const     *pSrcAVec, *pSrcBVec, *pSrcA2Vec, *pSrcB2Vec;
+            q7x16_t        vecA, vecA2, vecB, vecB2;
+            q31_t           acc0, acc1, acc2, acc3;
+
+            /*
+             * Initiate the pointer pIn1 to point to the starting address of the column being processed
+             */
+            pInA = pSrcA->pData + i;
+            pInA2 = pInA + numColsA;
+            pInB = pSrcBT + j;
+            pInB2 = pInB + numRowsB;
+
+            pSrcAVec = (q7_t const *) pInA;
+            pSrcA2Vec = (q7_t const *)pInA2;
+            pSrcBVec = (q7_t const *) pInB;
+            pSrcB2Vec = (q7_t const *)pInB2;
+
+            acc0 = 0L;
+            acc1 = 0L;
+            acc2 = 0L;
+            acc3 = 0L;
+
+            vecA = vld1q(pSrcAVec);  
+            pSrcAVec += 16;
+
+            blkCnt = numColsA >> 4;
+            while (blkCnt > 0U)
+            {
+                vecB = vld1q(pSrcBVec);  
+                pSrcBVec += 16;
+                acc0 = vmladavaq_s8(acc0, vecA, vecB);
+                vecA2 = vld1q(pSrcA2Vec);  
+                pSrcA2Vec += 16;
+                acc1 = vmladavaq_s8(acc1, vecA2, vecB);
+                vecB2 = vld1q(pSrcB2Vec);  
+                pSrcB2Vec += 16;
+                acc2 = vmladavaq_s8(acc2, vecA, vecB2);
+                vecA = vld1q(pSrcAVec);  
+                pSrcAVec += 16;
+                acc3 = vmladavaq_s8(acc3, vecA2, vecB2);
+
+                blkCnt--;
+            }
+            /*
+             * tail
+             * (will be merged thru tail predication)
+             */
+            blkCnt = numColsA & 0xF;
+            if (blkCnt > 0U)
+            {
+                mve_pred16_t p0 = vctp8q(blkCnt);
+                vecB = vld1q(pSrcBVec);
+                acc0 = vmladavaq_p_s8(acc0, vecA, vecB, p0);
+                vecA2 = vld1q(pSrcA2Vec);
+                acc1 = vmladavaq_p_s8(acc1, vecA2, vecB, p0);
+                vecB2 = vld1q(pSrcB2Vec);
+                acc2 = vmladavaq_p_s8(acc2, vecA, vecB2, p0);
+                vecA = vld1q(pSrcAVec);
+                acc3 = vmladavaq_p_s8(acc3, vecA2, vecB2, p0);
+            }
+
+            *px++ = (q7_t) __SSAT(acc0 >> 7, 8);
+            *px++ = (q7_t) __SSAT(acc2 >> 7, 8);
+            *px2++ = (q7_t) __SSAT(acc1 >> 7, 8);
+            *px2++ = (q7_t) __SSAT(acc3 >> 7, 8);
+            j += numRowsB * 2;
+            /*
+             * Decrement the column loop counter
+             */
+            col--;
+
+        }
+
+        i = i + numColsA * 2;
+        px = px2 + (numColsB & 1u);
+        px2 = px + numColsB;
+        /*
+         * Decrement the row loop counter
+         */
+        row--;
+    }
+
+    /*
+     * Compute remaining row and/or column below
+     */
+
+    if (numColsB & 1u)
+    {
+        row = numRowsA & (~0x1);    //avoid redundant computation
+        px = pDst->pData + numColsB - 1;
+        i = 0;
+
+        /*
+         * row loop
+         */
+        while (row > 0)
+        {
+            q7_t const   *pSrcAVec, *pSrcBVec;
+            q7x16_t       vecA, vecB;
+            q63_t           acc0;
+
+            /*
+             * point to last column in matrix B
+             */
+            pInB = pSrcBT + numRowsB * (numColsB - 1);
+            pInA = pSrcA->pData + i;
+
+            pSrcAVec = (q7_t const *) pInA;
+            pSrcBVec = (q7_t const *) pInB;
+
+            acc0 = 0LL;
+            blkCnt = (numColsA) >> 4;
+            while (blkCnt > 0U)
+            {
+                vecA = vld1q(pSrcAVec);  
+                pSrcAVec += 16;
+                vecB = vld1q(pSrcBVec);  
+                pSrcBVec += 16;
+                acc0 = vmladavaq_s8(acc0, vecA, vecB);
+
+                blkCnt--;
+            }
+            /*
+             * tail
+             * (will be merged thru tail predication)
+             */
+            blkCnt = numColsA & 0xF;
+            if (blkCnt > 0U)
+            {
+                mve_pred16_t p0 = vctp8q(blkCnt);
+                vecA = vld1q(pSrcAVec);
+                vecB = vld1q(pSrcBVec);
+                acc0 = vmladavaq_p_s8(acc0, vecA, vecB, p0);
+            }
+
+            *px = (q7_t) __SSAT(acc0 >> 7, 8);
+
+            px += numColsB;
+
+            i += numColsA;
+            /*
+             * Decrement the row loop counter
+             */
+            row--;
+        }
+    }
+
+    if (numRowsA & 1u)
+    {
+        col = numColsB;
+        i = 0u;
+        /*
+         * point to last row in output matrix
+         */
+        px = pDst->pData + (numColsB) * (numRowsA - 1);
+        /*
+         * col loop
+         */
+        while (col > 0)
+        {
+            q7_t const    *pSrcAVec, *pSrcBVec;
+            q7x16_t       vecA, vecB;
+            q63_t           acc0;
+
+            /*
+             * point to last row in matrix A
+             */
+            pInA = pSrcA->pData + (numRowsA - 1) * numColsA;
+            pInB = pSrcBT + i;
+
+            /*
+             * Set the variable sum, that acts as accumulator, to zero
+             */
+            pSrcAVec = (q7_t const *) pInA;
+            pSrcBVec = (q7_t const *) pInB;
+            acc0 = 0LL;
+
+            blkCnt = (numColsA) >> 4;
+            while (blkCnt > 0U)
+            {
+                vecA = vld1q(pSrcAVec); 
+                pSrcAVec += 16;
+                vecB = vld1q(pSrcBVec); 
+                pSrcBVec += 16;
+                acc0 = vmladavaq_s8(acc0, vecA, vecB);
+
+                blkCnt--;
+            }
+            /*
+             * tail
+             * (will be merged thru tail predication)
+             */
+            blkCnt = numColsA & 0xF;
+            if (blkCnt > 0U)
+            {
+                mve_pred16_t p0 = vctp8q(blkCnt);
+                vecA = vld1q(pSrcAVec);
+                vecB = vld1q(pSrcBVec);
+                acc0 = vmladavaq_p_s8(acc0, vecA, vecB, p0);
+            }
+
+            *px++ = (q7_t) __SSAT(acc0 >> 7, 8);
+
+            i += numColsA;
+
+            /*
+             * Decrement the col loop counter
+             */
+            col--;
+        }
+    }
+    /*
+     * Return to application
+     */
+     status = ARM_MATH_SUCCESS;
+    }
+    return(status);
+}
+#else
+arm_status arm_mat_mult_q7(const arm_matrix_instance_q7 *pSrcA, const arm_matrix_instance_q7 *pSrcB, arm_matrix_instance_q7 *pDst, q7_t *pState)
+{
+    q31_t sum; /* accumulator */
+    q7_t *pIn1 = pSrcA->pData;                    /* input data matrix pointer A */
+    q7_t *pIn2 = pSrcB->pData;                    /* input data matrix pointer B */
+    q7_t *pInA = pSrcA->pData;                    /* input data matrix pointer A of Q7 type */
+    q7_t *pInB = pSrcB->pData;                    /* input data matrix pointer B of Q7 type */
+    q7_t *pOut = pDst->pData;                     /* output data matrix pointer */
+    q7_t *px;                                     /* Temporary output data matrix pointer */
+    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 numRowsA = pSrcA->numRows;           /* number of rows of input matrix A    */
+    uint16_t col, i = 0U, row = numRowsA, colCnt; /* loop counters */
+    arm_status status;                            /* status of matrix multiplication */
+
+    (void)pState;
+
+#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 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;
+
+            /* column loop */
+            do {
+                /* Set the variable sum, that acts as accumulator, to zero */
+                sum = 0;
+
+                /* Initiate the pointer pIn1 to point to the starting address of pSrcA */
+                pIn1 = pInA;
+
+                /* Matrix A columns number of MAC operations are to be performed */
+                colCnt = numColsA;
+
+                /* 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 += (q31_t)*pIn1++ * *pIn2;
+                    pIn2 += numColsB;
+
+                    /* Decrement the loop counter */
+                    colCnt--;
+                }
+
+                /* Convert the result from 34.30 to 1.15 format and store the saturated value in destination buffer */
+                /* Saturate and store the result in the destination buffer */
+                *px++ = (q7_t)__SSAT((sum >> 7), 8);
+
+                /* Decrement the column loop counter */
+                col--;
+
+                /* Update the pointer pIn2 to point to the  starting address of the next column */
+                pIn2 = pInB + (numColsB - col);
+
+            } while (col > 0U);
+
+            /* Update the pointer pSrcA to point to the  starting address of the next row */
+            i = i + numColsB;
+            pInA = pInA + numColsA;
+
+            /* Decrement the row loop counter */
+            row--;
+
+        } while (row > 0U);
+
+        /* set status as ARM_MATH_SUCCESS */
+        status = ARM_MATH_SUCCESS;
+    }
+
+    /* Return to application */
+    return (status);
+}
+#endif /* defined(ARM_MATH_MVEI) */
+
+/**
+  @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_f16.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_f16.c
new file mode 100644
index 0000000..fc2193d
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_f16.c
@@ -0,0 +1,208 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_scale_f16.c
+ * Description:  Multiplies a floating-point matrix by a scalar
+ *
+ * $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_f16.h"
+
+#if defined(ARM_FLOAT16_SUPPORTED)
+
+
+/**
+  @ingroup groupMatrix
+ */
+
+
+/**
+  @addtogroup MatrixScale
+  @{
+ */
+
+/**
+  @brief         Floating-point matrix scaling.
+  @param[in]     pSrc       points to input matrix
+  @param[in]     scale      scale factor to be applied
+  @param[out]    pDst       points to output matrix structure
+  @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+ */
+#if defined(ARM_MATH_MVE_FLOAT16) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+arm_status arm_mat_scale_f16(
+  const arm_matrix_instance_f16 * pSrc,
+  float16_t scale,
+  arm_matrix_instance_f16 * pDst)
+{
+  arm_status status;                             /* status of matrix scaling     */
+  #ifdef ARM_MATH_MATRIX_CHECK
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pDst->numRows) || (pSrc->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+  {
+    float16_t *pIn = pSrc->pData;   /* input data matrix pointer */
+    float16_t *pOut = pDst->pData;  /* output data matrix pointer */
+    uint32_t  numSamples;           /* total number of elements in the matrix */
+    uint32_t  blkCnt;               /* loop counters */
+    f16x8_t vecIn, vecOut, vecScale;
+    float16_t const *pInVec;
+
+    pInVec = (float16_t const *) pIn;
+
+    vecScale = vdupq_n_f16(scale);
+    /*
+     * Total number of samples in the input matrix
+     */
+    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
+    blkCnt = numSamples >> 3;
+    while (blkCnt > 0U)
+    {
+        /*
+         * C(m,n) = A(m,n) * scale
+         * Scaling and results are stored in the destination buffer.
+         */
+        vecIn = vld1q(pInVec); 
+        pInVec += 8;
+
+        vecOut = vmulq_f16(vecIn, vecScale);
+
+        vst1q(pOut, vecOut); 
+        pOut += 8;
+        /*
+         * Decrement the blockSize loop counter
+         */
+        blkCnt--;
+    }
+    /*
+     * tail
+     */
+    blkCnt = numSamples & 7;
+    if (blkCnt > 0U)
+    {
+        mve_pred16_t p0 = vctp16q(blkCnt);
+        vecIn = vld1q(pInVec); 
+        vecOut = vecIn * scale;
+
+        vstrhq_p(pOut, vecOut, p0);
+    }
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+
+}
+#else
+
+arm_status arm_mat_scale_f16(
+  const arm_matrix_instance_f16 * pSrc,
+        float16_t                 scale,
+        arm_matrix_instance_f16 * pDst)
+{
+  float16_t *pIn = pSrc->pData;                  /* Input data matrix pointer */
+  float16_t *pOut = pDst->pData;                 /* Output data matrix pointer */
+  uint32_t numSamples;                           /* Total number of elements in the matrix */
+  uint32_t blkCnt;                               /* Loop counters */
+  arm_status status;                             /* Status of matrix scaling */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pDst->numRows) ||
+      (pSrc->numCols != pDst->numCols)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* Total number of samples in input matrix */
+    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+    /* Loop unrolling: Compute 4 outputs at a time */
+    blkCnt = numSamples >> 2U;
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) * scale */
+
+      /* Scale and store result in destination buffer. */
+      *pOut++ = (_Float16)(*pIn++) * (_Float16)scale;
+      *pOut++ = (_Float16)(*pIn++) * (_Float16)scale;
+      *pOut++ = (_Float16)(*pIn++) * (_Float16)scale;
+      *pOut++ = (_Float16)(*pIn++) * (_Float16)scale;
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Loop unrolling: Compute remaining outputs */
+    blkCnt = numSamples % 0x4U;
+
+#else
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) * scale */
+
+      /* Scale and store result in destination buffer. */
+      *pOut++ = (_Float16)(*pIn++) * (_Float16)scale;
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
+
+/**
+  @} end of MatrixScale group
+ */
+
+#endif /* #if defined(ARM_FLOAT16_SUPPORTED) */ 
+
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_f32.c
new file mode 100644
index 0000000..daebbb3
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_f32.c
@@ -0,0 +1,287 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_scale_f32.c
+ * Description:  Multiplies a floating-point matrix by a scalar
+ *
+ * $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 MatrixScale Matrix Scale
+
+  Multiplies a matrix by a scalar.  This is accomplished by multiplying each element in the
+  matrix by the scalar.  For example:
+  \image html MatrixScale.gif "Matrix Scaling of a 3 x 3 matrix"
+
+  The function checks to make sure that the input and output matrices are of the same size.
+
+  In the fixed-point Q15 and Q31 functions, <code>scale</code> is represented by
+  a fractional multiplication <code>scaleFract</code> and an arithmetic shift <code>shift</code>.
+  The shift allows the gain of the scaling operation to exceed 1.0.
+  The overall scale factor applied to the fixed-point data is
+  <pre>
+      scale = scaleFract * 2^shift.
+  </pre>
+ */
+
+/**
+  @addtogroup MatrixScale
+  @{
+ */
+
+/**
+  @brief         Floating-point matrix scaling.
+  @param[in]     pSrc       points to input matrix
+  @param[in]     scale      scale factor to be applied
+  @param[out]    pDst       points to output matrix structure
+  @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)
+arm_status arm_mat_scale_f32(
+  const arm_matrix_instance_f32 * pSrc,
+  float32_t scale,
+  arm_matrix_instance_f32 * pDst)
+{
+  arm_status status;                             /* status of matrix scaling     */
+  #ifdef ARM_MATH_MATRIX_CHECK
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pDst->numRows) || (pSrc->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+  {
+    float32_t *pIn = pSrc->pData;   /* input data matrix pointer */
+    float32_t *pOut = pDst->pData;  /* output data matrix pointer */
+    uint32_t  numSamples;           /* total number of elements in the matrix */
+    uint32_t  blkCnt;               /* loop counters */
+    f32x4_t vecIn, vecOut;
+    float32_t const *pInVec;
+
+    pInVec = (float32_t const *) pIn;
+    /*
+     * Total number of samples in the input matrix
+     */
+    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
+    blkCnt = numSamples >> 2;
+    while (blkCnt > 0U)
+    {
+        /*
+         * C(m,n) = A(m,n) * scale
+         * Scaling and results are stored in the destination buffer.
+         */
+        vecIn = vld1q(pInVec); 
+        pInVec += 4;
+
+        vecOut = vecIn * scale;
+
+        vst1q(pOut, vecOut); 
+        pOut += 4;
+        /*
+         * Decrement the blockSize loop counter
+         */
+        blkCnt--;
+    }
+    /*
+     * tail
+     */
+    blkCnt = numSamples & 3;
+    if (blkCnt > 0U)
+    {
+        mve_pred16_t p0 = vctp32q(blkCnt);
+        vecIn = vld1q(pInVec); 
+        vecOut = vecIn * scale;
+
+        vstrwq_p(pOut, vecOut, p0);
+    }
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+
+}
+#else
+#if defined(ARM_MATH_NEON_EXPERIMENTAL)
+arm_status arm_mat_scale_f32(
+  const arm_matrix_instance_f32 * pSrc,
+  float32_t scale,
+  arm_matrix_instance_f32 * pDst)
+{
+  float32_t *pIn = pSrc->pData;                  /* input data matrix pointer */
+  float32_t *pOut = pDst->pData;                 /* output data matrix pointer */
+  uint32_t numSamples;                           /* total number of elements in the matrix */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix scaling     */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pDst->numRows) || (pSrc->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+  {
+    float32x4_t vec1;
+    float32x4_t res;
+
+    /* Total number of samples in the input matrix */
+    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
+
+    blkCnt = numSamples >> 2;
+
+    /* Compute 4 outputs at a time.
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) * scale */
+      /* Scaling and results are stored in the destination buffer. */
+      vec1 = vld1q_f32(pIn);
+      res = vmulq_f32(vec1, vdupq_n_f32(scale));
+      vst1q_f32(pOut, res);
+
+      /* update pointers to process next sampels */
+      pIn += 4U;
+      pOut += 4U;
+
+      /* Decrement the numSamples loop counter */
+      blkCnt--;
+    }
+
+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.
+     ** No loop unrolling is used. */
+    blkCnt = numSamples % 0x4U;
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) * scale */
+      /* The results are stored in the destination buffer. */
+      *pOut++ = (*pIn++) * scale;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+#else
+arm_status arm_mat_scale_f32(
+  const arm_matrix_instance_f32 * pSrc,
+        float32_t                 scale,
+        arm_matrix_instance_f32 * pDst)
+{
+  float32_t *pIn = pSrc->pData;                  /* Input data matrix pointer */
+  float32_t *pOut = pDst->pData;                 /* Output data matrix pointer */
+  uint32_t numSamples;                           /* Total number of elements in the matrix */
+  uint32_t blkCnt;                               /* Loop counters */
+  arm_status status;                             /* Status of matrix scaling */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pDst->numRows) ||
+      (pSrc->numCols != pDst->numCols)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* Total number of samples in input matrix */
+    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+    /* Loop unrolling: Compute 4 outputs at a time */
+    blkCnt = numSamples >> 2U;
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) * scale */
+
+      /* Scale and store result in destination buffer. */
+      *pOut++ = (*pIn++) * scale;
+      *pOut++ = (*pIn++) * scale;
+      *pOut++ = (*pIn++) * scale;
+      *pOut++ = (*pIn++) * scale;
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Loop unrolling: Compute remaining outputs */
+    blkCnt = numSamples % 0x4U;
+
+#else
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) * scale */
+
+      /* Scale and store result in destination buffer. */
+      *pOut++ = (*pIn++) * scale;
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* 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 MatrixScale group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_q15.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_q15.c
new file mode 100644
index 0000000..e43de0a
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_q15.c
@@ -0,0 +1,249 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_scale_q15.c
+ * Description:  Multiplies a Q15 matrix by a scalar
+ *
+ * $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
+ */
+
+/**
+  @addtogroup MatrixScale
+  @{
+ */
+
+/**
+  @brief         Q15 matrix scaling.
+  @param[in]     pSrc        points to input matrix
+  @param[in]     scaleFract  fractional portion of the scale factor
+  @param[in]     shift       number of bits to shift the result by
+  @param[out]    pDst        points to output matrix structure
+  @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+  @par           Scaling and Overflow Behavior
+                   The input data <code>*pSrc</code> and <code>scaleFract</code> are in 1.15 format.
+                   These are multiplied to yield a 2.30 intermediate result and this is shifted with saturation to 1.15 format.
+ */
+#if defined(ARM_MATH_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+arm_status arm_mat_scale_q15(
+  const arm_matrix_instance_q15 * pSrc,
+        q15_t                     scaleFract,
+        int32_t                   shift,
+        arm_matrix_instance_q15 * pDst)
+{
+  arm_status status;                             /* Status of matrix scaling */
+  q15_t *pIn = pSrc->pData;       /* input data matrix pointer */
+  q15_t *pOut = pDst->pData;      /* output data matrix pointer */
+  uint32_t  numSamples;           /* total number of elements in the matrix */
+  uint32_t  blkCnt;               /* loop counters */
+  q15x8_t vecIn, vecOut;
+  q15_t const *pInVec;
+  int32_t totShift = shift + 1;   /* shift to apply after scaling */
+  
+  pInVec = (q15_t const *) pIn;
+
+  #ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pDst->numRows) ||
+      (pSrc->numCols != pDst->numCols)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /*
+     * Total number of samples in the input matrix
+     */
+    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
+    blkCnt = numSamples >> 3;
+    while (blkCnt > 0U)
+    {
+        /*
+         * C(m,n) = A(m,n) * scale
+         * Scaling and results are stored in the destination buffer.
+         */
+        vecIn = vld1q(pInVec); pInVec += 8;
+
+        /* multiply input with scaler value */
+        vecOut = vmulhq(vecIn, vdupq_n_s16(scaleFract));
+         /* apply shifting */
+        vecOut = vqshlq_r(vecOut, totShift);
+
+        vst1q(pOut, vecOut); pOut += 8;
+
+        /*
+         * Decrement the blockSize loop counter
+         */
+        blkCnt--;
+    }
+    /*
+     * tail
+     * (will be merged thru tail predication)
+     */
+    blkCnt = numSamples & 7;
+    if (blkCnt > 0U)
+    {
+        mve_pred16_t p0 = vctp16q(blkCnt);
+        vecIn = vld1q(pInVec); pInVec += 8;
+        vecOut = vmulhq(vecIn, vdupq_n_s16(scaleFract));
+        vecOut = vqshlq_r(vecOut, totShift);
+        vstrhq_p(pOut, vecOut, p0);
+    }
+     /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+#else
+arm_status arm_mat_scale_q15(
+  const arm_matrix_instance_q15 * pSrc,
+        q15_t                     scaleFract,
+        int32_t                   shift,
+        arm_matrix_instance_q15 * pDst)
+{
+        q15_t *pIn = pSrc->pData;                      /* Input data matrix pointer */
+        q15_t *pOut = pDst->pData;                     /* Output data matrix pointer */
+        uint32_t numSamples;                           /* Total number of elements in the matrix */
+        uint32_t blkCnt;                               /* Loop counter */
+        arm_status status;                             /* Status of matrix scaling */
+        int32_t kShift = 15 - shift;                   /* Total shift to apply after scaling */
+
+#if defined (ARM_MATH_LOOPUNROLL) && defined (ARM_MATH_DSP)
+        q31_t inA1, inA2;
+        q31_t out1, out2, out3, out4;                  /* Temporary output variables */
+        q15_t in1, in2, in3, in4;                      /* Temporary input variables */
+#endif
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pDst->numRows) ||
+      (pSrc->numCols != pDst->numCols)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* Total number of samples in input matrix */
+    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+    /* Loop unrolling: Compute 4 outputs at a time */
+    blkCnt = numSamples >> 2U;
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) * k */
+
+#if defined (ARM_MATH_DSP)
+      /* read 2 times 2 samples at a time from source */
+      inA1 = read_q15x2_ia (&pIn);
+      inA2 = read_q15x2_ia (&pIn);
+
+      /* Scale inputs and store result in temporary variables
+       * in single cycle by packing the outputs */
+      out1 = (q31_t) ((q15_t) (inA1 >> 16) * scaleFract);
+      out2 = (q31_t) ((q15_t) (inA1      ) * scaleFract);
+      out3 = (q31_t) ((q15_t) (inA2 >> 16) * scaleFract);
+      out4 = (q31_t) ((q15_t) (inA2      ) * scaleFract);
+
+      /* apply shifting */
+      out1 = out1 >> kShift;
+      out2 = out2 >> kShift;
+      out3 = out3 >> kShift;
+      out4 = out4 >> kShift;
+
+      /* saturate the output */
+      in1 = (q15_t) (__SSAT(out1, 16));
+      in2 = (q15_t) (__SSAT(out2, 16));
+      in3 = (q15_t) (__SSAT(out3, 16));
+      in4 = (q15_t) (__SSAT(out4, 16));
+
+      /* store result to destination */
+      write_q15x2_ia (&pOut, __PKHBT(in2, in1, 16));
+      write_q15x2_ia (&pOut, __PKHBT(in4, in3, 16));
+
+#else
+      *pOut++ = (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> kShift, 16));
+      *pOut++ = (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> kShift, 16));
+      *pOut++ = (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> kShift, 16));
+      *pOut++ = (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> kShift, 16));
+#endif
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Loop unrolling: Compute remaining outputs */
+    blkCnt = numSamples % 0x4U;
+
+#else
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) * k */
+
+      /* Scale, saturate and store result in destination buffer. */
+      *pOut++ = (q15_t) (__SSAT(((q31_t) (*pIn++) * scaleFract) >> kShift, 16));
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+#endif /* defined(ARM_MATH_MVEI) */
+
+/**
+  @} end of MatrixScale group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_q31.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_q31.c
new file mode 100644
index 0000000..33c0868
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_scale_q31.c
@@ -0,0 +1,242 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_scale_q31.c
+ * Description:  Multiplies a Q31 matrix by a scalar
+ *
+ * $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
+ */
+
+/**
+  @addtogroup MatrixScale
+  @{
+ */
+
+/**
+  @brief         Q31 matrix scaling.
+  @param[in]     pSrc        points to input matrix
+  @param[in]     scaleFract  fractional portion of the scale factor
+  @param[in]     shift       number of bits to shift the result by
+  @param[out]    pDst        points to output matrix structure
+  @return        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+  @par           Scaling and Overflow Behavior
+                   The input data <code>*pSrc</code> and <code>scaleFract</code> are in 1.31 format.
+                   These are multiplied to yield a 2.62 intermediate result which is shifted with saturation to 1.31 format.
+ */
+#if defined(ARM_MATH_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+arm_status arm_mat_scale_q31(
+  const arm_matrix_instance_q31 * pSrc,
+        q31_t                     scaleFract,
+        int32_t                   shift,
+        arm_matrix_instance_q31 * pDst)
+{
+    q31_t *pIn = pSrc->pData;       /* input data matrix pointer */
+    q31_t *pOut = pDst->pData;      /* output data matrix pointer */
+    uint32_t  numSamples;           /* total number of elements in the matrix */
+    uint32_t  blkCnt;               /* loop counters */
+    q31x4_t vecIn, vecOut;
+    q31_t const *pInVec;
+    int32_t totShift = shift + 1;   /* shift to apply after scaling */
+    arm_status status;                             /* Status of matrix scaling */
+
+    pInVec = (q31_t const *) pIn;
+  #ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pDst->numRows) ||
+      (pSrc->numCols != pDst->numCols)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+  {
+
+     /*
+     * Total number of samples in the input matrix
+     */
+    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
+    blkCnt = numSamples >> 2;
+    while (blkCnt > 0U)
+    {
+        /*
+         * C(m,n) = A(m,n) * scale
+         * Scaling and results are stored in the destination buffer.
+         */
+        vecIn = vld1q(pInVec); 
+        pInVec += 4;
+        /* multiply input with scaler value */
+        vecOut = vmulhq(vecIn, vdupq_n_s32(scaleFract));
+        /* apply shifting */
+        vecOut = vqshlq_r(vecOut, totShift);
+
+        vst1q(pOut, vecOut); 
+        pOut += 4;
+        /*
+         * Decrement the blockSize loop counter
+         */
+        blkCnt--;
+    }
+    /*
+     * tail
+     */
+    blkCnt = numSamples & 3;
+    if (blkCnt > 0U)
+    {
+        mve_pred16_t p0 = vctp32q(blkCnt);
+        vecIn = vld1q(pInVec); 
+        pInVec += 4;
+        vecOut = vmulhq(vecIn, vdupq_n_s32(scaleFract));
+        vecOut = vqshlq_r(vecOut, totShift);
+        vstrwq_p(pOut, vecOut, p0);
+    }
+     /* Set status as ARM_MATH_SUCCESS */
+     status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+#else
+arm_status arm_mat_scale_q31(
+  const arm_matrix_instance_q31 * pSrc,
+        q31_t                     scaleFract,
+        int32_t                   shift,
+        arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pIn = pSrc->pData;                      /* Input data matrix pointer */
+  q31_t *pOut = pDst->pData;                     /* Output data matrix pointer */
+  uint32_t numSamples;                           /* Total number of elements in the matrix */
+  uint32_t blkCnt;                               /* Loop counter */
+  arm_status status;                             /* Status of matrix scaling */
+  int32_t kShift = shift + 1;                    /* Shift to apply after scaling */
+  q31_t in, out;                                 /* Temporary variabels */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrc->numRows != pDst->numRows) ||
+      (pSrc->numCols != pDst->numCols)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* Total number of samples in input matrix */
+    numSamples = (uint32_t) pSrc->numRows * pSrc->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+    /* Loop unrolling: Compute 4 outputs at a time */
+    blkCnt = numSamples >> 2U;
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) * k */
+
+      /* Scale, saturate and store result in destination buffer. */
+      in = *pIn++;                                 /* read four inputs from source */
+      in = ((q63_t) in * scaleFract) >> 32;        /* multiply input with scaler value */
+      out = in << kShift;                          /* apply shifting */
+      if (in != (out >> kShift))                   /* saturate the results. */
+        out = 0x7FFFFFFF ^ (in >> 31);
+      *pOut++ = out;                               /* Store result destination */
+
+      in = *pIn++;
+      in = ((q63_t) in * scaleFract) >> 32;
+      out = in << kShift;
+      if (in != (out >> kShift))
+        out = 0x7FFFFFFF ^ (in >> 31);
+      *pOut++ = out;
+
+      in = *pIn++;
+      in = ((q63_t) in * scaleFract) >> 32;
+      out = in << kShift;
+      if (in != (out >> kShift))
+        out = 0x7FFFFFFF ^ (in >> 31);
+      *pOut++ = out;
+
+      in = *pIn++;
+      in = ((q63_t) in * scaleFract) >> 32;
+      out = in << kShift;
+      if (in != (out >> kShift))
+        out = 0x7FFFFFFF ^ (in >> 31);
+      *pOut++ = out;
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Loop unrolling: Compute remaining outputs */
+    blkCnt = numSamples % 0x4U;
+
+#else
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) * k */
+
+      /* Scale, saturate and store result in destination buffer. */
+      in = *pIn++;
+      in = ((q63_t) in * scaleFract) >> 32;
+      out = in << kShift;
+      if (in != (out >> kShift))
+        out = 0x7FFFFFFF ^ (in >> 31);
+      *pOut++ = out;
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+#endif /* defined(ARM_MATH_MVEI) */
+
+/**
+  @} end of MatrixScale group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_solve_lower_triangular_f16.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_solve_lower_triangular_f16.c
new file mode 100644
index 0000000..8dafc14
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_solve_lower_triangular_f16.c
@@ -0,0 +1,234 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_solve_lower_triangular_f16.c
+ * Description:  Solve linear system LT X = A with LT lower triangular matrix
+ *
+ * $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_f16.h"
+
+#if defined(ARM_FLOAT16_SUPPORTED)
+/**
+  @ingroup groupMatrix
+ */
+
+
+/**
+  @addtogroup MatrixInv
+  @{
+ */
+
+
+   /**
+   * @brief Solve LT . X = A where LT is a lower triangular matrix
+   * @param[in]  lt  The lower triangular matrix
+   * @param[in]  a  The matrix a
+   * @param[out] dst The solution X of LT . X = A
+   * @return The function returns ARM_MATH_SINGULAR, if the system can't be solved.
+   */
+
+#if defined(ARM_MATH_MVE_FLOAT16) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+  arm_status arm_mat_solve_lower_triangular_f16(
+  const arm_matrix_instance_f16 * lt,
+  const arm_matrix_instance_f16 * a,
+  arm_matrix_instance_f16 * dst)
+  {
+  arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((lt->numRows != lt->numCols) ||
+      (lt->numRows != a->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* a1 b1 c1   x1 = a1
+          b2 c2   x2   a2
+             c3   x3   a3
+
+    x3 = a3 / c3 
+    x2 = (a2 - c2 x3) / b2
+
+    */
+    int i,j,k,n,cols;
+
+    n = dst->numRows;
+    cols = dst->numCols;
+
+    float16_t *pX = dst->pData;
+    float16_t *pLT = lt->pData;
+    float16_t *pA = a->pData;
+
+    float16_t *lt_row;
+    float16_t *a_col;
+
+    _Float16 invLT;
+
+    f16x8_t vecA;
+    f16x8_t vecX;
+
+    for(i=0; i < n ; i++)
+    {
+
+      for(j=0; j+7 < cols; j += 8)
+      {
+            vecA = vld1q_f16(&pA[i * cols + j]);
+
+            for(k=0; k < i; k++)
+            {
+                vecX = vld1q_f16(&pX[cols*k+j]);
+                vecA = vfmsq(vecA,vdupq_n_f16(pLT[n*i + k]),vecX);
+            }
+
+            if ((_Float16)pLT[n*i + i]==0.0f16)
+            {
+              return(ARM_MATH_SINGULAR);
+            }
+
+            invLT = 1.0f16 / (_Float16)pLT[n*i + i];
+            vecA = vmulq(vecA,vdupq_n_f16(invLT));
+            vst1q(&pX[i*cols+j],vecA);
+
+       }
+
+       for(; j < cols; j ++)
+       {
+            a_col = &pA[j];
+            lt_row = &pLT[n*i];
+
+            _Float16 tmp=a_col[i * cols];
+            
+            for(k=0; k < i; k++)
+            {
+                tmp -= (_Float16)lt_row[k] * (_Float16)pX[cols*k+j];
+            }
+
+            if ((_Float16)lt_row[i]==0.0f16)
+            {
+              return(ARM_MATH_SINGULAR);
+            }
+            tmp = tmp / (_Float16)lt_row[i];
+            pX[i*cols+j] = tmp;
+        }
+
+    }
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+#else
+  arm_status arm_mat_solve_lower_triangular_f16(
+  const arm_matrix_instance_f16 * lt,
+  const arm_matrix_instance_f16 * a,
+  arm_matrix_instance_f16 * dst)
+  {
+  arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((lt->numRows != lt->numCols) ||
+      (lt->numRows != a->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* a1 b1 c1   x1 = a1
+          b2 c2   x2   a2
+             c3   x3   a3
+
+    x3 = a3 / c3 
+    x2 = (a2 - c2 x3) / b2
+
+    */
+    int i,j,k,n,cols;
+
+    n = dst->numRows;
+    cols = dst->numCols;
+
+    float16_t *pX = dst->pData;
+    float16_t *pLT = lt->pData;
+    float16_t *pA = a->pData;
+
+    float16_t *lt_row;
+    float16_t *a_col;
+
+    for(j=0; j < cols; j ++)
+    {
+       a_col = &pA[j];
+
+       for(i=0; i < n ; i++)
+       {
+            lt_row = &pLT[n*i];
+
+            float16_t tmp=a_col[i * cols];
+            
+            for(k=0; k < i; k++)
+            {
+                tmp -= (_Float16)lt_row[k] * (_Float16)pX[cols*k+j];
+            }
+
+            if ((_Float16)lt_row[i]==0.0f16)
+            {
+              return(ARM_MATH_SINGULAR);
+            }
+            tmp = (_Float16)tmp / (_Float16)lt_row[i];
+            pX[i*cols+j] = tmp;
+       }
+
+    }
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  /* Return to application */
+  return (status);
+}
+#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
+
+/**
+  @} end of MatrixInv group
+ */
+#endif /* #if defined(ARM_FLOAT16_SUPPORTED) */ 
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_solve_lower_triangular_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_solve_lower_triangular_f32.c
new file mode 100644
index 0000000..c7cdecc
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_solve_lower_triangular_f32.c
@@ -0,0 +1,333 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_solve_lower_triangular_f32.c
+ * Description:  Solve linear system LT X = A with LT lower triangular matrix
+ *
+ * $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
+ */
+
+
+/**
+  @addtogroup MatrixInv
+  @{
+ */
+
+
+   /**
+   * @brief Solve LT . X = A where LT is a lower triangular matrix
+   * @param[in]  lt  The lower triangular matrix
+   * @param[in]  a  The matrix a
+   * @param[out] dst The solution X of LT . X = A
+   * @return The function returns ARM_MATH_SINGULAR, if the system can't be solved.
+   */
+
+#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+  arm_status arm_mat_solve_lower_triangular_f32(
+  const arm_matrix_instance_f32 * lt,
+  const arm_matrix_instance_f32 * a,
+  arm_matrix_instance_f32 * dst)
+  {
+  arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((lt->numRows != lt->numCols) ||
+      (lt->numRows != a->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* a1 b1 c1   x1 = a1
+          b2 c2   x2   a2
+             c3   x3   a3
+
+    x3 = a3 / c3 
+    x2 = (a2 - c2 x3) / b2
+
+    */
+    int i,j,k,n,cols;
+
+    n = dst->numRows;
+    cols = dst->numCols;
+
+    float32_t *pX = dst->pData;
+    float32_t *pLT = lt->pData;
+    float32_t *pA = a->pData;
+
+    float32_t *lt_row;
+    float32_t *a_col;
+
+    float32_t invLT;
+
+    f32x4_t vecA;
+    f32x4_t vecX;
+
+    for(i=0; i < n ; i++)
+    {
+
+      for(j=0; j+3 < cols; j += 4)
+      {
+            vecA = vld1q_f32(&pA[i * cols + j]);
+
+            for(k=0; k < i; k++)
+            {
+                vecX = vld1q_f32(&pX[cols*k+j]);
+                vecA = vfmsq(vecA,vdupq_n_f32(pLT[n*i + k]),vecX);
+            }
+
+            if (pLT[n*i + i]==0.0f)
+            {
+              return(ARM_MATH_SINGULAR);
+            }
+
+            invLT = 1.0f / pLT[n*i + i];
+            vecA = vmulq(vecA,vdupq_n_f32(invLT));
+            vst1q(&pX[i*cols+j],vecA);
+
+       }
+
+       for(; j < cols; j ++)
+       {
+            a_col = &pA[j];
+            lt_row = &pLT[n*i];
+
+            float32_t tmp=a_col[i * cols];
+            
+            for(k=0; k < i; k++)
+            {
+                tmp -= lt_row[k] * pX[cols*k+j];
+            }
+
+            if (lt_row[i]==0.0f)
+            {
+              return(ARM_MATH_SINGULAR);
+            }
+            tmp = tmp / lt_row[i];
+            pX[i*cols+j] = tmp;
+        }
+
+    }
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  /* Return to application */
+  return (status);
+}
+#else
+#if defined(ARM_MATH_NEON) && !defined(ARM_MATH_AUTOVECTORIZE)
+  arm_status arm_mat_solve_lower_triangular_f32(
+  const arm_matrix_instance_f32 * lt,
+  const arm_matrix_instance_f32 * a,
+  arm_matrix_instance_f32 * dst)
+  {
+  arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((lt->numRows != lt->numCols) ||
+      (lt->numRows != a->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* a1 b1 c1   x1 = a1
+          b2 c2   x2   a2
+             c3   x3   a3
+
+    x3 = a3 / c3 
+    x2 = (a2 - c2 x3) / b2
+
+    */
+    int i,j,k,n,cols;
+
+    n = dst->numRows;
+    cols = dst->numCols;
+
+    float32_t *pX = dst->pData;
+    float32_t *pLT = lt->pData;
+    float32_t *pA = a->pData;
+
+    float32_t *lt_row;
+    float32_t *a_col;
+
+    float32_t invLT;
+
+    f32x4_t vecA;
+    f32x4_t vecX;
+
+    for(i=0; i < n ; i++)
+    {
+
+      for(j=0; j+3 < cols; j += 4)
+      {
+            vecA = vld1q_f32(&pA[i * cols + j]);
+
+            for(k=0; k < i; k++)
+            {
+                vecX = vld1q_f32(&pX[cols*k+j]);
+                vecA = vfmsq_f32(vecA,vdupq_n_f32(pLT[n*i + k]),vecX);
+            }
+
+            if (pLT[n*i + i]==0.0f)
+            {
+              return(ARM_MATH_SINGULAR);
+            }
+
+            invLT = 1.0f / pLT[n*i + i];
+            vecA = vmulq_f32(vecA,vdupq_n_f32(invLT));
+            vst1q_f32(&pX[i*cols+j],vecA);
+
+       }
+
+       for(; j < cols; j ++)
+       {
+            a_col = &pA[j];
+            lt_row = &pLT[n*i];
+
+            float32_t tmp=a_col[i * cols];
+            
+            for(k=0; k < i; k++)
+            {
+                tmp -= lt_row[k] * pX[cols*k+j];
+            }
+
+            if (lt_row[i]==0.0f)
+            {
+              return(ARM_MATH_SINGULAR);
+            }
+            tmp = tmp / lt_row[i];
+            pX[i*cols+j] = tmp;
+        }
+
+    }
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  /* Return to application */
+  return (status);
+}
+#else
+  arm_status arm_mat_solve_lower_triangular_f32(
+  const arm_matrix_instance_f32 * lt,
+  const arm_matrix_instance_f32 * a,
+  arm_matrix_instance_f32 * dst)
+  {
+  arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+  /* Check for matrix mismatch condition */
+  if ((lt->numRows != lt->numCols) ||
+      (lt->numRows != a->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* a1 b1 c1   x1 = a1
+          b2 c2   x2   a2
+             c3   x3   a3
+
+    x3 = a3 / c3 
+    x2 = (a2 - c2 x3) / b2
+
+    */
+    int i,j,k,n,cols;
+
+    float32_t *pX = dst->pData;
+    float32_t *pLT = lt->pData;
+    float32_t *pA = a->pData;
+
+    float32_t *lt_row;
+    float32_t *a_col;
+
+    n = dst->numRows;
+    cols = dst -> numCols;
+
+
+    for(j=0; j < cols; j ++)
+    {
+       a_col = &pA[j];
+
+       for(i=0; i < n ; i++)
+       {
+            float32_t tmp=a_col[i * cols];
+
+            lt_row = &pLT[n*i];
+            
+            for(k=0; k < i; k++)
+            {
+                tmp -= lt_row[k] * pX[cols*k+j];
+            }
+
+            if (lt_row[i]==0.0f)
+            {
+              return(ARM_MATH_SINGULAR);
+            }
+            tmp = tmp / lt_row[i];
+            pX[i*cols+j] = tmp;
+       }
+
+    }
+    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 MatrixInv group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_solve_lower_triangular_f64.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_solve_lower_triangular_f64.c
new file mode 100644
index 0000000..d54ff67
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_solve_lower_triangular_f64.c
@@ -0,0 +1,124 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_solve_lower_triangular_f64.c
+ * Description:  Solve linear system LT X = A with LT lower triangular matrix
+ *
+ * $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
+ */
+
+
+/**
+  @addtogroup MatrixInv
+  @{
+ */
+
+
+   /**
+   * @brief Solve LT . X = A where LT is a lower triangular matrix
+   * @param[in]  lt  The lower triangular matrix
+   * @param[in]  a  The matrix a
+   * @param[out] dst The solution X of LT . X = A
+   * @return The function returns ARM_MATH_SINGULAR, if the system can't be solved.
+   */
+  arm_status arm_mat_solve_lower_triangular_f64(
+  const arm_matrix_instance_f64 * lt,
+  const arm_matrix_instance_f64 * a,
+  arm_matrix_instance_f64 * dst)
+  {
+  arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((lt->numRows != lt->numCols) ||
+      (lt->numRows != a->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* a1 b1 c1   x1 = a1
+          b2 c2   x2   a2
+             c3   x3   a3
+
+    x3 = a3 / c3 
+    x2 = (a2 - c2 x3) / b2
+
+    */
+    int i,j,k,n,cols;
+
+    float64_t *pX = dst->pData;
+    float64_t *pLT = lt->pData;
+    float64_t *pA = a->pData;
+
+    float64_t *lt_row;
+    float64_t *a_col;
+
+    n = dst->numRows;
+    cols = dst->numCols;
+
+    for(j=0; j < cols; j ++)
+    {
+       a_col = &pA[j];
+
+       for(i=0; i < n ; i++)
+       {
+            float64_t tmp=a_col[i * cols];
+
+            lt_row = &pLT[n*i];
+
+            for(k=0; k < i; k++)
+            {
+                tmp -= lt_row[k] * pX[cols*k+j];
+            }
+
+            if (lt_row[i]==0.0)
+            {
+              return(ARM_MATH_SINGULAR);
+            }
+            tmp = tmp / lt_row[i];
+            pX[i*cols+j] = tmp;
+       }
+
+    }
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  /* Return to application */
+  return (status);
+}
+/**
+  @} end of MatrixInv group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_solve_upper_triangular_f16.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_solve_upper_triangular_f16.c
new file mode 100644
index 0000000..332280f
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_solve_upper_triangular_f16.c
@@ -0,0 +1,226 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_solve_upper_triangular_f16.c
+ * Description:  Solve linear system UT X = A with UT upper triangular matrix
+ *
+ * $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_f16.h"
+
+#if defined(ARM_FLOAT16_SUPPORTED)
+
+
+/**
+  @ingroup groupMatrix
+ */
+
+
+/**
+  @addtogroup MatrixInv
+  @{
+ */
+
+/**
+   * @brief Solve UT . X = A where UT is an upper triangular matrix
+   * @param[in]  ut  The upper triangular matrix
+   * @param[in]  a  The matrix a
+   * @param[out] dst The solution X of UT . X = A
+   * @return The function returns ARM_MATH_SINGULAR, if the system can't be solved.
+  */
+
+#if defined(ARM_MATH_MVE_FLOAT16) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+  arm_status arm_mat_solve_upper_triangular_f16(
+  const arm_matrix_instance_f16 * ut,
+  const arm_matrix_instance_f16 * a,
+  arm_matrix_instance_f16 * dst)
+  {
+arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((ut->numRows != ut->numCols) ||
+      (ut->numRows != a->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+
+    int i,j,k,n,cols;
+
+    n = dst->numRows;
+    cols = dst->numCols;
+
+    float16_t *pX = dst->pData;
+    float16_t *pUT = ut->pData;
+    float16_t *pA = a->pData;
+
+    float16_t *ut_row;
+    float16_t *a_col;
+
+    _Float16 invUT;
+
+    f16x8_t vecA;
+    f16x8_t vecX;
+    
+    for(i=n-1; i >= 0 ; i--)
+    {
+      for(j=0; j+7 < cols; j +=8)
+      {
+            vecA = vld1q_f16(&pA[i * cols + j]);
+            
+            for(k=n-1; k > i; k--)
+            {
+                vecX = vld1q_f16(&pX[cols*k+j]);          
+                vecA = vfmsq(vecA,vdupq_n_f16(pUT[n*i + k]),vecX);
+            }
+
+            if ((_Float16)pUT[n*i + i]==0.0f16)
+            {
+              return(ARM_MATH_SINGULAR);
+            }
+
+            invUT = 1.0f16 / (_Float16)pUT[n*i + i];
+            vecA = vmulq(vecA,vdupq_n_f16(invUT));
+           
+
+            vst1q(&pX[i*cols+j],vecA);
+      }
+
+      for(; j < cols; j ++)
+      {
+            a_col = &pA[j];
+
+            ut_row = &pUT[n*i];
+
+            _Float16 tmp=a_col[i * cols];
+            
+            for(k=n-1; k > i; k--)
+            {
+                tmp -= (_Float16)ut_row[k] * (_Float16)pX[cols*k+j];
+            }
+
+            if ((_Float16)ut_row[i]==0.0f16)
+            {
+              return(ARM_MATH_SINGULAR);
+            }
+            tmp = tmp / (_Float16)ut_row[i];
+            pX[i*cols+j] = tmp;
+       }
+
+    }
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  
+  /* Return to application */
+  return (status);
+}
+
+#else
+  arm_status arm_mat_solve_upper_triangular_f16(
+  const arm_matrix_instance_f16 * ut,
+  const arm_matrix_instance_f16 * a,
+  arm_matrix_instance_f16 * dst)
+  {
+arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((ut->numRows != ut->numCols) ||
+      (ut->numRows != a->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+
+    int i,j,k,n,cols;
+
+    n = dst->numRows;
+    cols = dst->numCols;
+
+    float16_t *pX = dst->pData;
+    float16_t *pUT = ut->pData;
+    float16_t *pA = a->pData;
+
+    float16_t *ut_row;
+    float16_t *a_col;
+
+    for(j=0; j < cols; j ++)
+    {
+       a_col = &pA[j];
+
+       for(i=n-1; i >= 0 ; i--)
+       {
+            ut_row = &pUT[n*i];
+
+            float16_t tmp=a_col[i * cols];
+            
+            for(k=n-1; k > i; k--)
+            {
+                tmp -= (_Float16)ut_row[k] * (_Float16)pX[cols*k+j];
+            }
+
+            if ((_Float16)ut_row[i]==0.0f16)
+            {
+              return(ARM_MATH_SINGULAR);
+            }
+            tmp = (_Float16)tmp / (_Float16)ut_row[i];
+            pX[i*cols+j] = tmp;
+       }
+
+    }
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  
+  /* Return to application */
+  return (status);
+}
+
+#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
+
+/**
+  @} end of MatrixInv group
+ */
+#endif /* #if defined(ARM_FLOAT16_SUPPORTED) */ 
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_solve_upper_triangular_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_solve_upper_triangular_f32.c
new file mode 100644
index 0000000..f58dfbd
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_solve_upper_triangular_f32.c
@@ -0,0 +1,319 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_solve_upper_triangular_f32.c
+ * Description:  Solve linear system UT X = A with UT upper triangular matrix
+ *
+ * $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
+ */
+
+
+/**
+  @addtogroup MatrixInv
+  @{
+ */
+
+/**
+   * @brief Solve UT . X = A where UT is an upper triangular matrix
+   * @param[in]  ut  The upper triangular matrix
+   * @param[in]  a  The matrix a
+   * @param[out] dst The solution X of UT . X = A
+   * @return The function returns ARM_MATH_SINGULAR, if the system can't be solved.
+  */
+
+#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+  arm_status arm_mat_solve_upper_triangular_f32(
+  const arm_matrix_instance_f32 * ut,
+  const arm_matrix_instance_f32 * a,
+  arm_matrix_instance_f32 * dst)
+  {
+arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((ut->numRows != ut->numCols) ||
+      (ut->numRows != a->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+
+    int i,j,k,n,cols;
+
+    n = dst->numRows;
+    cols = dst->numCols;
+
+    float32_t *pX = dst->pData;
+    float32_t *pUT = ut->pData;
+    float32_t *pA = a->pData;
+
+    float32_t *ut_row;
+    float32_t *a_col;
+
+    float32_t invUT;
+
+    f32x4_t vecA;
+    f32x4_t vecX;
+    
+    for(i=n-1; i >= 0 ; i--)
+    {
+      for(j=0; j+3 < cols; j +=4)
+      {
+            vecA = vld1q_f32(&pA[i * cols + j]);
+            
+            for(k=n-1; k > i; k--)
+            {
+                vecX = vld1q_f32(&pX[cols*k+j]);          
+                vecA = vfmsq(vecA,vdupq_n_f32(pUT[n*i + k]),vecX);
+            }
+
+            if (pUT[n*i + i]==0.0f)
+            {
+              return(ARM_MATH_SINGULAR);
+            }
+
+            invUT = 1.0f / pUT[n*i + i];
+            vecA = vmulq(vecA,vdupq_n_f32(invUT));
+           
+
+            vst1q(&pX[i*cols+j],vecA);
+      }
+
+      for(; j < cols; j ++)
+      {
+            a_col = &pA[j];
+
+            ut_row = &pUT[n*i];
+
+            float32_t tmp=a_col[i * cols];
+            
+            for(k=n-1; k > i; k--)
+            {
+                tmp -= ut_row[k] * pX[cols*k+j];
+            }
+
+            if (ut_row[i]==0.0f)
+            {
+              return(ARM_MATH_SINGULAR);
+            }
+            tmp = tmp / ut_row[i];
+            pX[i*cols+j] = tmp;
+       }
+
+    }
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  
+  /* Return to application */
+  return (status);
+}
+
+#else
+#if defined(ARM_MATH_NEON) && !defined(ARM_MATH_AUTOVECTORIZE)
+  arm_status arm_mat_solve_upper_triangular_f32(
+  const arm_matrix_instance_f32 * ut,
+  const arm_matrix_instance_f32 * a,
+  arm_matrix_instance_f32 * dst)
+  {
+arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((ut->numRows != ut->numCols) ||
+      (ut->numRows != a->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+
+    int i,j,k,n,cols;
+
+    n = dst->numRows;
+    cols = dst->numCols;
+
+    float32_t *pX = dst->pData;
+    float32_t *pUT = ut->pData;
+    float32_t *pA = a->pData;
+
+    float32_t *ut_row;
+    float32_t *a_col;
+
+    float32_t invUT;
+
+    f32x4_t vecA;
+    f32x4_t vecX;
+    
+    for(i=n-1; i >= 0 ; i--)
+    {
+      for(j=0; j+3 < cols; j +=4)
+      {
+            vecA = vld1q_f32(&pA[i * cols + j]);
+            
+            for(k=n-1; k > i; k--)
+            {
+                vecX = vld1q_f32(&pX[cols*k+j]);          
+                vecA = vfmsq_f32(vecA,vdupq_n_f32(pUT[n*i + k]),vecX);
+            }
+
+            if (pUT[n*i + i]==0.0f)
+            {
+              return(ARM_MATH_SINGULAR);
+            }
+
+            invUT = 1.0f / pUT[n*i + i];
+            vecA = vmulq_f32(vecA,vdupq_n_f32(invUT));
+           
+
+            vst1q_f32(&pX[i*cols+j],vecA);
+      }
+
+      for(; j < cols; j ++)
+      {
+            a_col = &pA[j];
+
+            ut_row = &pUT[n*i];
+
+            float32_t tmp=a_col[i * cols];
+            
+            for(k=n-1; k > i; k--)
+            {
+                tmp -= ut_row[k] * pX[cols*k+j];
+            }
+
+            if (ut_row[i]==0.0f)
+            {
+              return(ARM_MATH_SINGULAR);
+            }
+            tmp = tmp / ut_row[i];
+            pX[i*cols+j] = tmp;
+       }
+
+    }
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  
+  /* Return to application */
+  return (status);
+}
+
+#else
+  arm_status arm_mat_solve_upper_triangular_f32(
+  const arm_matrix_instance_f32 * ut,
+  const arm_matrix_instance_f32 * a,
+  arm_matrix_instance_f32 * dst)
+  {
+arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((ut->numRows != ut->numCols) ||
+      (ut->numRows != a->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+
+    int i,j,k,n,cols;
+
+    float32_t *pX = dst->pData;
+    float32_t *pUT = ut->pData;
+    float32_t *pA = a->pData;
+
+    float32_t *ut_row;
+    float32_t *a_col;
+
+    n = dst->numRows;
+    cols = dst->numCols;
+
+    for(j=0; j < cols; j ++)
+    {
+       a_col = &pA[j];
+
+       for(i=n-1; i >= 0 ; i--)
+       {
+            float32_t tmp=a_col[i * cols];
+
+            ut_row = &pUT[n*i];
+
+            for(k=n-1; k > i; k--)
+            {
+                tmp -= ut_row[k] * pX[cols*k+j];
+            }
+
+            if (ut_row[i]==0.0f)
+            {
+              return(ARM_MATH_SINGULAR);
+            }
+            tmp = tmp / ut_row[i];
+            pX[i*cols+j] = tmp;
+       }
+
+    }
+    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 MatrixInv group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_solve_upper_triangular_f64.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_solve_upper_triangular_f64.c
new file mode 100644
index 0000000..248273d
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_solve_upper_triangular_f64.c
@@ -0,0 +1,120 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_solve_upper_triangular_f64.c
+ * Description:  Solve linear system UT X = A with UT upper triangular matrix
+ *
+ * $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
+ */
+
+
+/**
+  @addtogroup MatrixInv
+  @{
+ */
+
+/**
+   * @brief Solve UT . X = A where UT is an upper triangular matrix
+   * @param[in]  ut  The upper triangular matrix
+   * @param[in]  a  The matrix a
+   * @param[out] dst The solution X of UT . X = A
+   * @return The function returns ARM_MATH_SINGULAR, if the system can't be solved.
+  */
+  arm_status arm_mat_solve_upper_triangular_f64(
+  const arm_matrix_instance_f64 * ut,
+  const arm_matrix_instance_f64 * a,
+  arm_matrix_instance_f64 * dst)
+  {
+arm_status status;                             /* status of matrix inverse */
+
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((ut->numRows != ut->numCols) ||
+      (ut->numRows != a->numRows)   )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+
+    int i,j,k,n,cols;
+
+    float64_t *pX = dst->pData;
+    float64_t *pUT = ut->pData;
+    float64_t *pA = a->pData;
+
+    float64_t *ut_row;
+    float64_t *a_col;
+
+    n = dst->numRows;
+    cols = dst->numCols;
+
+    for(j=0; j < cols; j ++)
+    {
+       a_col = &pA[j];
+
+       for(i=n-1; i >= 0 ; i--)
+       {
+            float64_t tmp=a_col[i * cols];
+
+            ut_row = &pUT[n*i];
+
+            for(k=n-1; k > i; k--)
+            {
+                tmp -= ut_row[k] * pX[cols*k+j];
+            }
+
+            if (ut_row[i]==0.0)
+            {
+              return(ARM_MATH_SINGULAR);
+            }
+            tmp = tmp / ut_row[i];
+            pX[i*cols+j] = tmp;
+       }
+
+    }
+    status = ARM_MATH_SUCCESS;
+
+  }
+
+  
+  /* Return to application */
+  return (status);
+}
+
+
+/**
+  @} end of MatrixInv group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_f16.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_f16.c
new file mode 100644
index 0000000..13291b8
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_f16.c
@@ -0,0 +1,215 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_sub_f16.c
+ * Description:  Floating-point matrix subtraction
+ *
+ * $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_f16.h"
+
+#if defined(ARM_FLOAT16_SUPPORTED)
+
+
+/**
+  @ingroup groupMatrix
+ */
+
+
+/**
+  @addtogroup MatrixSub
+  @{
+ */
+
+/**
+  @brief         Floating-point matrix subtraction.
+  @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        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+ */
+#if defined(ARM_MATH_MVE_FLOAT16) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+arm_status arm_mat_sub_f16(
+  const arm_matrix_instance_f16 * pSrcA,
+  const arm_matrix_instance_f16 * pSrcB,
+  arm_matrix_instance_f16 * pDst)
+{
+    arm_status status;                             /* status of matrix subtraction */
+    uint32_t  numSamples;       /* total number of elements in the matrix  */
+    float16_t *pDataA, *pDataB, *pDataDst;
+    f16x8_t vecA, vecB, vecDst;
+    float16_t const *pSrcAVec;
+    float16_t const *pSrcBVec;
+    uint32_t  blkCnt;           /* loop counters */
+
+    pDataA = pSrcA->pData;
+    pDataB = pSrcB->pData;
+    pDataDst = pDst->pData;
+    pSrcAVec = (float16_t const *) pDataA;
+    pSrcBVec = (float16_t const *) pDataB;
+
+#ifdef ARM_MATH_MATRIX_CHECK
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+     (pSrcA->numCols != pSrcB->numCols) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+  {
+    /*
+     * Total number of samples in the input matrix
+     */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+    blkCnt = numSamples >> 3;
+    while (blkCnt > 0U)
+    {
+        /* C(m,n) = A(m,n) + B(m,n) */
+        /* sub and then store the results in the destination buffer. */
+        vecA = vld1q(pSrcAVec); 
+        pSrcAVec += 8;
+        vecB = vld1q(pSrcBVec); 
+        pSrcBVec += 8;
+        vecDst = vsubq(vecA, vecB);
+        vst1q(pDataDst, vecDst);  
+        pDataDst += 8;
+        /*
+         * Decrement the blockSize loop counter
+         */
+        blkCnt--;
+    }
+    /*
+     * tail
+     * (will be merged thru tail predication)
+     */
+    blkCnt = numSamples & 7;
+    if (blkCnt > 0U)
+    {
+        mve_pred16_t p0 = vctp16q(blkCnt);
+        vecA = vld1q(pSrcAVec); 
+        vecB = vld1q(pSrcBVec); 
+        vecDst = vsubq_m(vecDst, vecA, vecB, p0);
+        vstrhq_p(pDataDst, vecDst, p0);
+    }
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+#else
+
+arm_status arm_mat_sub_f16(
+  const arm_matrix_instance_f16 * pSrcA,
+  const arm_matrix_instance_f16 * pSrcB,
+        arm_matrix_instance_f16 * pDst)
+{
+  float16_t *pInA = pSrcA->pData;                /* input data matrix pointer A */
+  float16_t *pInB = pSrcB->pData;                /* input data matrix pointer B */
+  float16_t *pOut = pDst->pData;                 /* output data matrix pointer */
+
+  uint32_t numSamples;                           /* total number of elements in the matrix */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix subtraction */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+      (pSrcA->numCols != pSrcB->numCols) ||
+      (pSrcA->numRows != pDst->numRows)  ||
+      (pSrcA->numCols != pDst->numCols)    )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* Total number of samples in input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+    /* Loop unrolling: Compute 4 outputs at a time */
+    blkCnt = numSamples >> 2U;
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+
+      /* Subtract and store result in destination buffer. */
+      *pOut++ = (_Float16)(*pInA++) - (_Float16)(*pInB++);
+      *pOut++ = (_Float16)(*pInA++) - (_Float16)(*pInB++);
+      *pOut++ = (_Float16)(*pInA++) - (_Float16)(*pInB++);
+      *pOut++ = (_Float16)(*pInA++) - (_Float16)(*pInB++);
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Loop unrolling: Compute remaining outputs */
+    blkCnt = numSamples % 0x4U;
+
+#else
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+
+      /* Subtract and store result in destination buffer. */
+      *pOut++ = (_Float16)(*pInA++) - (_Float16)(*pInB++);
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
+
+/**
+  @} end of MatrixSub group
+ */
+
+#endif /* #if defined(ARM_FLOAT16_SUPPORTED) */ 
+
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_f32.c
new file mode 100644
index 0000000..e9a17d1
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_f32.c
@@ -0,0 +1,298 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_sub_f32.c
+ * Description:  Floating-point matrix subtraction
+ *
+ * $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 MatrixSub Matrix Subtraction
+
+  Subtract two matrices.
+  \image html MatrixSubtraction.gif "Subraction of two 3 x 3 matrices"
+
+  The functions check to make sure that
+  <code>pSrcA</code>, <code>pSrcB</code>, and <code>pDst</code> have the same
+  number of rows and columns.
+ */
+
+/**
+  @addtogroup MatrixSub
+  @{
+ */
+
+/**
+  @brief         Floating-point matrix subtraction.
+  @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        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)
+arm_status arm_mat_sub_f32(
+  const arm_matrix_instance_f32 * pSrcA,
+  const arm_matrix_instance_f32 * pSrcB,
+  arm_matrix_instance_f32 * pDst)
+{
+    arm_status status;                             /* status of matrix subtraction */
+    uint32_t  numSamples;       /* total number of elements in the matrix  */
+    float32_t *pDataA, *pDataB, *pDataDst;
+    f32x4_t vecA, vecB, vecDst;
+    float32_t const *pSrcAVec;
+    float32_t const *pSrcBVec;
+    uint32_t  blkCnt;           /* loop counters */
+
+    pDataA = pSrcA->pData;
+    pDataB = pSrcB->pData;
+    pDataDst = pDst->pData;
+    pSrcAVec = (float32_t const *) pDataA;
+    pSrcBVec = (float32_t const *) pDataB;
+
+#ifdef ARM_MATH_MATRIX_CHECK
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+     (pSrcA->numCols != pSrcB->numCols) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+  {
+    /*
+     * Total number of samples in the input matrix
+     */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+    blkCnt = numSamples >> 2;
+    while (blkCnt > 0U)
+    {
+        /* C(m,n) = A(m,n) + B(m,n) */
+        /* sub and then store the results in the destination buffer. */
+        vecA = vld1q(pSrcAVec); 
+        pSrcAVec += 4;
+        vecB = vld1q(pSrcBVec); 
+        pSrcBVec += 4;
+        vecDst = vsubq(vecA, vecB);
+        vst1q(pDataDst, vecDst);  
+        pDataDst += 4;
+        /*
+         * Decrement the blockSize loop counter
+         */
+        blkCnt--;
+    }
+    /*
+     * tail
+     * (will be merged thru tail predication)
+     */
+    blkCnt = numSamples & 3;
+    if (blkCnt > 0U)
+    {
+        mve_pred16_t p0 = vctp32q(blkCnt);
+        vecA = vld1q(pSrcAVec); 
+        vecB = vld1q(pSrcBVec); 
+        vecDst = vsubq_m(vecDst, vecA, vecB, p0);
+        vstrwq_p(pDataDst, vecDst, p0);
+    }
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+#else
+#if defined(ARM_MATH_NEON)
+arm_status arm_mat_sub_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 *pOut = pDst->pData;                 /* output data matrix pointer  */
+
+
+  uint32_t numSamples;                           /* total number of elements in the matrix  */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix subtraction */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+     (pSrcA->numCols != pSrcB->numCols) ||
+     (pSrcA->numRows != pDst->numRows) || (pSrcA->numCols != pDst->numCols))
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /*    #ifdef ARM_MATH_MATRIX_CHECK    */
+  {
+    float32x4_t vec1;
+    float32x4_t vec2;
+    float32x4_t res;
+
+    /* Total number of samples in the input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+    blkCnt = numSamples >> 2U;
+
+    /* Compute 4 outputs at a time.
+     ** a second loop below computes the remaining 1 to 3 samples. */
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+      /* Subtract and then store the results in the destination buffer. */
+      /* Read values from source A */
+      vec1 = vld1q_f32(pIn1);
+      vec2 = vld1q_f32(pIn2);
+      res = vsubq_f32(vec1, vec2);
+      vst1q_f32(pOut, res);
+
+      /* Update pointers to process next samples */
+      pIn1 += 4U;
+      pIn2 += 4U;
+      pOut += 4U;
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* If the numSamples is not a multiple of 4, compute any remaining output samples here.
+     ** No loop unrolling is used. */
+    blkCnt = numSamples % 0x4U;
+
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+      /* Subtract and then store the results in the destination buffer. */
+      *pOut++ = (*pIn1++) - (*pIn2++);
+
+      /* Decrement the loop counter */
+      blkCnt--;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+#else
+arm_status arm_mat_sub_f32(
+  const arm_matrix_instance_f32 * pSrcA,
+  const arm_matrix_instance_f32 * pSrcB,
+        arm_matrix_instance_f32 * pDst)
+{
+  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 */
+
+  uint32_t numSamples;                           /* total number of elements in the matrix */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix subtraction */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+      (pSrcA->numCols != pSrcB->numCols) ||
+      (pSrcA->numRows != pDst->numRows)  ||
+      (pSrcA->numCols != pDst->numCols)    )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* Total number of samples in input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+    /* Loop unrolling: Compute 4 outputs at a time */
+    blkCnt = numSamples >> 2U;
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+
+      /* Subtract and store result in destination buffer. */
+      *pOut++ = (*pInA++) - (*pInB++);
+      *pOut++ = (*pInA++) - (*pInB++);
+      *pOut++ = (*pInA++) - (*pInB++);
+      *pOut++ = (*pInA++) - (*pInB++);
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Loop unrolling: Compute remaining outputs */
+    blkCnt = numSamples % 0x4U;
+
+#else
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+
+      /* Subtract and store result in destination buffer. */
+      *pOut++ = (*pInA++) - (*pInB++);
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* 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 MatrixSub group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_f64.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_f64.c
new file mode 100644
index 0000000..245a76d
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_f64.c
@@ -0,0 +1,143 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_sub_f64.c
+ * Description:  Floating-point matrix subtraction
+ *
+ * $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 MatrixSub Matrix Subtraction
+
+  Subtract two matrices.
+  \image html MatrixSubtraction.gif "Subraction of two 3 x 3 matrices"
+
+  The functions check to make sure that
+  <code>pSrcA</code>, <code>pSrcB</code>, and <code>pDst</code> have the same
+  number of rows and columns.
+ */
+
+/**
+  @addtogroup MatrixSub
+  @{
+ */
+
+/**
+  @brief         Floating-point matrix subtraction.
+  @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        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+ */
+
+arm_status arm_mat_sub_f64(
+  const arm_matrix_instance_f64 * pSrcA,
+  const arm_matrix_instance_f64 * pSrcB,
+        arm_matrix_instance_f64 * pDst)
+{
+  float64_t *pInA = pSrcA->pData;                /* input data matrix pointer A */
+  float64_t *pInB = pSrcB->pData;                /* input data matrix pointer B */
+  float64_t *pOut = pDst->pData;                 /* output data matrix pointer */
+
+  uint64_t numSamples;                           /* total number of elements in the matrix */
+  uint64_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix subtraction */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+      (pSrcA->numCols != pSrcB->numCols) ||
+      (pSrcA->numRows != pDst->numRows)  ||
+      (pSrcA->numCols != pDst->numCols)    )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* Total number of samples in input matrix */
+    numSamples = (uint64_t) pSrcA->numRows * pSrcA->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+    /* Loop unrolling: Compute 4 outputs at a time */
+    blkCnt = numSamples >> 2U;
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+
+      /* Subtract and store result in destination buffer. */
+      *pOut++ = (*pInA++) - (*pInB++);
+      *pOut++ = (*pInA++) - (*pInB++);
+      *pOut++ = (*pInA++) - (*pInB++);
+      *pOut++ = (*pInA++) - (*pInB++);
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Loop unrolling: Compute remaining outputs */
+    blkCnt = numSamples % 0x4U;
+
+#else
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+
+      /* Subtract and store result in destination buffer. */
+      *pOut++ = (*pInA++) - (*pInB++);
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+/**
+  @} end of MatrixSub group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_q15.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_q15.c
new file mode 100644
index 0000000..c379996
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_q15.c
@@ -0,0 +1,219 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_sub_q15.c
+ * Description:  Q15 Matrix subtraction
+ *
+ * $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
+ */
+
+/**
+  @addtogroup MatrixSub
+  @{
+ */
+
+/**
+  @brief         Q15 matrix subtraction.
+  @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        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+  @par           Scaling and Overflow Behavior
+                   The function uses saturating arithmetic.
+                   Results outside of the allowable Q15 range [0x8000 0x7FFF] are saturated.
+ */
+#if defined(ARM_MATH_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+arm_status arm_mat_sub_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+        arm_matrix_instance_q15 * pDst)
+{
+    uint32_t        numSamples;       /* total number of elements in the matrix  */
+    q15_t          *pDataA, *pDataB, *pDataDst;
+    q15x8_t       vecA, vecB, vecDst;
+    q15_t const   *pSrcAVec;
+    q15_t const   *pSrcBVec;
+    uint32_t        blkCnt;           /* loop counters */
+    arm_status status;                             /* status of matrix subtraction  */
+
+
+    pDataA = pSrcA->pData;
+    pDataB = pSrcB->pData;
+    pDataDst = pDst->pData;
+    pSrcAVec = (q15_t const *) pDataA;
+    pSrcBVec = (q15_t const *) pDataB;
+
+  #ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+      (pSrcA->numCols != pSrcB->numCols) ||
+      (pSrcA->numRows != pDst->numRows)  ||
+      (pSrcA->numCols != pDst->numCols)    )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+        /*
+     * Total number of samples in the input matrix
+     */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+    blkCnt = numSamples >> 3;
+    while (blkCnt > 0U)
+    {
+        /* C(m,n) = A(m,n) + B(m,n) */
+        /* sub and then store the results in the destination buffer. */
+        vecA = vld1q(pSrcAVec); pSrcAVec += 8;
+        vecB = vld1q(pSrcBVec); pSrcBVec += 8;
+        vecDst = vqsubq(vecA, vecB);
+        vst1q(pDataDst, vecDst);  pDataDst += 8;
+        /*
+         * Decrement the blockSize loop counter
+         */
+        blkCnt--;
+    }
+    /*
+     * tail
+     */
+    blkCnt = numSamples & 7;
+    if (blkCnt > 0U)
+    {
+        mve_pred16_t p0 = vctp16q(blkCnt);
+        vecA = vld1q(pSrcAVec); pSrcAVec += 8;
+        vecB = vld1q(pSrcBVec); pSrcBVec += 8;
+        vecDst = vqsubq_m(vecDst, vecA, vecB, p0);
+        vstrhq_p(pDataDst, vecDst, p0);
+    }
+     status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+#else
+arm_status arm_mat_sub_q15(
+  const arm_matrix_instance_q15 * pSrcA,
+  const arm_matrix_instance_q15 * pSrcB,
+        arm_matrix_instance_q15 * pDst)
+{
+        q15_t *pInA = pSrcA->pData;                    /* input data matrix pointer A */
+        q15_t *pInB = pSrcB->pData;                    /* input data matrix pointer B */
+        q15_t *pOut = pDst->pData;                     /* output data matrix pointer */
+
+        uint32_t numSamples;                           /* total number of elements in the matrix */
+        uint32_t blkCnt;                               /* loop counters  */
+        arm_status status;                             /* status of matrix subtraction  */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+      (pSrcA->numCols != pSrcB->numCols) ||
+      (pSrcA->numRows != pDst->numRows)  ||
+      (pSrcA->numCols != pDst->numCols)    )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* Total number of samples in input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+    /* Loop unrolling: Compute 4 outputs at a time */
+    blkCnt = numSamples >> 2U;
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+
+      /* Subtract, Saturate and store result in destination buffer. */
+#if defined (ARM_MATH_DSP)
+      write_q15x2_ia (&pOut, __QSUB16(read_q15x2_ia (&pInA), read_q15x2_ia (&pInB)));
+      write_q15x2_ia (&pOut, __QSUB16(read_q15x2_ia (&pInA), read_q15x2_ia (&pInB)));
+#else
+      *pOut++ = (q15_t) __SSAT(((q31_t) * pInA++ - *pInB++), 16);
+      *pOut++ = (q15_t) __SSAT(((q31_t) * pInA++ - *pInB++), 16);
+      *pOut++ = (q15_t) __SSAT(((q31_t) * pInA++ - *pInB++), 16);
+      *pOut++ = (q15_t) __SSAT(((q31_t) * pInA++ - *pInB++), 16);
+#endif
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Loop unrolling: Compute remaining outputs */
+    blkCnt = numSamples % 0x4U;
+
+#else
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+
+      /* Subtract and store result in destination buffer. */
+#if defined (ARM_MATH_DSP)
+      *pOut++ = (q15_t) __QSUB16(*pInA++, *pInB++);
+#else
+      *pOut++ = (q15_t) __SSAT(((q31_t) * pInA++ - *pInB++), 16);
+#endif
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+#endif /* defined(ARM_MATH_MVEI) */
+
+/**
+  @} end of MatrixSub group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_q31.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_q31.c
new file mode 100644
index 0000000..5045b29
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_sub_q31.c
@@ -0,0 +1,218 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_sub_q31.c
+ * Description:  Q31 matrix subtraction
+ *
+ * $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
+ */
+
+/**
+  @addtogroup MatrixSub
+  @{
+ */
+
+/**
+  @brief         Q31 matrix subtraction.
+  @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        execution status
+                   - \ref ARM_MATH_SUCCESS       : Operation successful
+                   - \ref ARM_MATH_SIZE_MISMATCH : Matrix size check failed
+
+  @par           Scaling and Overflow Behavior
+                   The function uses saturating arithmetic.
+                   Results outside of the allowable Q31 range [0x80000000 0x7FFFFFFF] are saturated.
+ */
+#if defined(ARM_MATH_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+arm_status arm_mat_sub_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+        arm_matrix_instance_q31 * pDst)
+{
+    uint32_t        numSamples;       /* total number of elements in the matrix  */
+    q31_t          *pDataA, *pDataB, *pDataDst;
+    q31x4_t       vecA, vecB, vecDst;
+    q31_t const   *pSrcAVec;
+    q31_t const   *pSrcBVec;
+    uint32_t        blkCnt;           /* loop counters */
+    arm_status status;                             /* status of matrix subtraction */
+
+    pDataA = pSrcA->pData;
+    pDataB = pSrcB->pData;
+    pDataDst = pDst->pData;
+    pSrcAVec = (q31_t const *) pDataA;
+    pSrcBVec = (q31_t const *) pDataB;
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+      (pSrcA->numCols != pSrcB->numCols) ||
+      (pSrcA->numRows != pDst->numRows)  ||
+      (pSrcA->numCols != pDst->numCols)    )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+  {
+
+    /*
+     * Total number of samples in the input matrix
+     */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+    blkCnt = numSamples >> 2;
+    while (blkCnt > 0U)
+    {
+        /* C(m,n) = A(m,n) + B(m,n) */
+        /* sub and then store the results in the destination buffer. */
+        vecA = vld1q(pSrcAVec); 
+        pSrcAVec += 4;
+        vecB = vld1q(pSrcBVec); 
+        pSrcBVec += 4;
+        vecDst = vqsubq(vecA, vecB);
+        vst1q(pDataDst, vecDst);  
+        pDataDst += 4;
+        /*
+         * Decrement the blockSize loop counter
+         */
+        blkCnt--;
+    }
+    /*
+     * tail
+     */
+    blkCnt = numSamples & 3;
+    if (blkCnt > 0U)
+    {
+        mve_pred16_t p0 = vctp32q(blkCnt);
+        vecA = vld1q(pSrcAVec); 
+        pSrcAVec += 4;
+        vecB = vld1q(pSrcBVec); 
+        pSrcBVec += 4;
+        vecDst = vqsubq_m(vecDst, vecA, vecB, p0);
+        vstrwq_p(pDataDst, vecDst, p0);
+    }
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+#else
+arm_status arm_mat_sub_q31(
+  const arm_matrix_instance_q31 * pSrcA,
+  const arm_matrix_instance_q31 * pSrcB,
+        arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pInA = pSrcA->pData;                    /* input data matrix pointer A */
+  q31_t *pInB = pSrcB->pData;                    /* input data matrix pointer B */
+  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */
+
+  uint32_t numSamples;                           /* total number of elements in the matrix */
+  uint32_t blkCnt;                               /* loop counters */
+  arm_status status;                             /* status of matrix subtraction */
+
+#ifdef ARM_MATH_MATRIX_CHECK
+
+  /* Check for matrix mismatch condition */
+  if ((pSrcA->numRows != pSrcB->numRows) ||
+      (pSrcA->numCols != pSrcB->numCols) ||
+      (pSrcA->numRows != pDst->numRows)  ||
+      (pSrcA->numCols != pDst->numCols)    )
+  {
+    /* Set status as ARM_MATH_SIZE_MISMATCH */
+    status = ARM_MATH_SIZE_MISMATCH;
+  }
+  else
+
+#endif /* #ifdef ARM_MATH_MATRIX_CHECK */
+
+  {
+    /* Total number of samples in input matrix */
+    numSamples = (uint32_t) pSrcA->numRows * pSrcA->numCols;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+    /* Loop unrolling: Compute 4 outputs at a time */
+    blkCnt = numSamples >> 2U;
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+
+      /* Subtract, saturate and then store the results in the destination buffer. */
+      *pOut++ = __QSUB(*pInA++, *pInB++);
+
+      *pOut++ = __QSUB(*pInA++, *pInB++);
+
+      *pOut++ = __QSUB(*pInA++, *pInB++);
+
+      *pOut++ = __QSUB(*pInA++, *pInB++);
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Loop unrolling: Compute remaining outputs */
+    blkCnt = numSamples % 0x4U;
+
+#else
+
+    /* Initialize blkCnt with number of samples */
+    blkCnt = numSamples;
+
+#endif /* #if defined (ARM_MATH_LOOPUNROLL) */
+
+    while (blkCnt > 0U)
+    {
+      /* C(m,n) = A(m,n) - B(m,n) */
+
+      /* Subtract, saturate and store result in destination buffer. */
+      *pOut++ = __QSUB(*pInA++, *pInB++);
+
+      /* Decrement loop counter */
+      blkCnt--;
+    }
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+#endif /* defined(ARM_MATH_MVEI) */
+
+/**
+  @} end of MatrixSub group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_f16.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_f16.c
new file mode 100644
index 0000000..8a41ccb
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_f16.c
@@ -0,0 +1,202 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_trans_f16.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_f16.h"
+
+#if defined(ARM_FLOAT16_SUPPORTED)
+
+
+/**
+  @ingroup groupMatrix
+ */
+
+/**
+  @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_MVE_FLOAT16) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+arm_status arm_mat_trans_f16(
+  const arm_matrix_instance_f16 * pSrc,
+  arm_matrix_instance_f16 * 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 == 1)
+        {
+          pDst->pData[0] = pSrc->pData[0];
+          return(ARM_MATH_SUCCESS);
+        }
+        if (pDst->numCols == 2)
+            return arm_mat_trans_16bit_2x2((uint16_t  *)pSrc->pData, (uint16_t  *)pDst->pData);
+        if (pDst->numCols == 3)
+            return arm_mat_trans_16bit_3x3_mve((uint16_t  *)pSrc->pData, (uint16_t  *)pDst->pData);
+        if (pDst->numCols == 4)
+            return arm_mat_trans_16bit_4x4_mve((uint16_t  *)pSrc->pData, (uint16_t  *)pDst->pData);
+    }
+
+    arm_mat_trans_16bit_generic(pSrc->numRows, pSrc->numCols, (uint16_t  *)pSrc->pData, (uint16_t  *)pDst->pData);
+      /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+
+#else
+
+arm_status arm_mat_trans_f16(
+  const arm_matrix_instance_f16 * pSrc,
+        arm_matrix_instance_f16 * pDst)
+{
+  float16_t *pIn = pSrc->pData;                  /* input data matrix pointer */
+  float16_t *pOut = pDst->pData;                 /* output data matrix pointer */
+  float16_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 /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
+
+/**
+ * @} end of MatrixTrans group
+ */
+
+#endif /* #if defined(ARM_FLOAT16_SUPPORTED) */ 
+
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_f32.c
new file mode 100644
index 0000000..b411663
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_f32.c
@@ -0,0 +1,325 @@
+/* ----------------------------------------------------------------------
+ * 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
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_f64.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_f64.c
new file mode 100644
index 0000000..57b5043
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_f64.c
@@ -0,0 +1,155 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_trans_f64.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
+ */
+
+arm_status arm_mat_trans_f64(
+  const arm_matrix_instance_f64 * pSrc,
+        arm_matrix_instance_f64 * pDst)
+{
+  float64_t *pIn = pSrc->pData;                  /* input data matrix pointer */
+  float64_t *pOut = pDst->pData;                 /* output data matrix pointer */
+  float64_t *px;                                 /* Temporary output data matrix pointer */
+  uint16_t nRows = pSrc->numRows;                /* number of rows */
+  uint16_t nCols = pSrc->numCols;                /* number of columns */
+  uint64_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);
+}
+
+/**
+ * @} end of MatrixTrans group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_q15.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_q15.c
new file mode 100644
index 0000000..e740922
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_q15.c
@@ -0,0 +1,233 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_trans_q15.c
+ * Description:  Q15 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
+ */
+
+/**
+  @addtogroup MatrixTrans
+  @{
+ */
+
+/**
+  @brief         Q15 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_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+
+
+arm_status arm_mat_trans_q15(
+  const arm_matrix_instance_q15 * pSrc,
+        arm_matrix_instance_q15 * 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 == 1)
+        {
+          pDst->pData[0] = pSrc->pData[0];
+          return(ARM_MATH_SUCCESS);
+        }
+        if (pDst->numCols == 2)
+            return arm_mat_trans_16bit_2x2((uint16_t  *)pSrc->pData, (uint16_t  *)pDst->pData);
+        if (pDst->numCols == 3)
+            return arm_mat_trans_16bit_3x3_mve((uint16_t  *)pSrc->pData, (uint16_t  *)pDst->pData);
+        if (pDst->numCols == 4)
+            return arm_mat_trans_16bit_4x4_mve((uint16_t  *)pSrc->pData, (uint16_t  *)pDst->pData);
+    }
+
+    arm_mat_trans_16bit_generic(pSrc->numRows, pSrc->numCols, (uint16_t  *)pSrc->pData, (uint16_t  *)pDst->pData);
+      /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+#else
+arm_status arm_mat_trans_q15(
+  const arm_matrix_instance_q15 * pSrc,
+        arm_matrix_instance_q15 * pDst)
+{
+        q15_t *pIn = pSrc->pData;                      /* input data matrix pointer */
+        q15_t *pOut = pDst->pData;                     /* 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 */
+
+#if defined (ARM_MATH_LOOPUNROLL)
+        q31_t in;                                      /* variable to hold temporary output  */
+#endif
+
+#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 pOut is set to starting address of column being processed */
+      pOut = pDst->pData + i;
+
+#if defined (ARM_MATH_LOOPUNROLL)
+
+      /* Loop unrolling: Compute 4 outputs at a time */
+      col = nCols >> 2U;
+
+      while (col > 0U)        /* column loop */
+      {
+        /* Read two elements from row */
+        in = read_q15x2_ia (&pIn);
+
+        /* Unpack and store one element in  destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+        *pOut = (q15_t) in;
+#else
+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+        /* Update pointer pOut to point to next row of transposed matrix */
+        pOut += nRows;
+
+        /* Unpack and store second element in destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#else
+        *pOut = (q15_t) in;
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+        /* Update  pointer pOut to point to next row of transposed matrix */
+        pOut += nRows;
+
+        /* Read two elements from row */
+        in = read_q15x2_ia (&pIn);
+
+        /* Unpack and store one element in destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+        *pOut = (q15_t) in;
+#else
+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+        /* Update pointer pOut to point to next row of transposed matrix */
+        pOut += nRows;
+
+        /* Unpack and store second element in destination */
+#ifndef ARM_MATH_BIG_ENDIAN
+        *pOut = (q15_t) ((in & (q31_t) 0xffff0000) >> 16);
+#else
+        *pOut = (q15_t) in;
+#endif /* #ifndef ARM_MATH_BIG_ENDIAN */
+
+        /* Update pointer pOut to point to next row of transposed matrix */
+        pOut += 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 */
+        *pOut = *pIn++;
+
+        /* Update pointer pOut to point to next row of transposed matrix */
+        pOut += 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 /* defined(ARM_MATH_MVEI) */
+
+/**
+  @} end of MatrixTrans group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_q31.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_q31.c
new file mode 100644
index 0000000..2c77254
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_q31.c
@@ -0,0 +1,191 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_trans_q31.c
+ * Description:  Q31 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
+ */
+
+/**
+  @addtogroup MatrixTrans
+  @{
+ */
+
+/**
+  @brief         Q31 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_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+arm_status arm_mat_trans_q31(
+  const arm_matrix_instance_q31 * pSrc,
+        arm_matrix_instance_q31 * 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;
+
+    /* Set status as ARM_MATH_SUCCESS */
+    status = ARM_MATH_SUCCESS;
+  }
+
+  /* Return to application */
+  return (status);
+}
+#else
+arm_status arm_mat_trans_q31(
+  const arm_matrix_instance_q31 * pSrc,
+        arm_matrix_instance_q31 * pDst)
+{
+  q31_t *pIn = pSrc->pData;                      /* input data matrix pointer */
+  q31_t *pOut = pDst->pData;                     /* output data matrix pointer */
+  q31_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 /* defined(ARM_MATH_MVEI) */
+
+/**
+  @} end of MatrixTrans group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_q7.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_q7.c
new file mode 100644
index 0000000..a500d05
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_trans_q7.c
@@ -0,0 +1,171 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_trans_q7.c
+ * Description:  Q7 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
+ */
+
+/**
+  @addtogroup MatrixTrans
+  @{
+ */
+
+/**
+  @brief         Q7 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_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+arm_status arm_mat_trans_q7(const arm_matrix_instance_q7 *pSrc, arm_matrix_instance_q7 *pDst)
+{
+
+    uint16x8_t    vecOffs;
+    uint32_t        i;
+    uint32_t        blkCnt;
+    uint8_t const  *pDataC;
+    uint8_t        *pDataDestR;
+    uint16x8_t    vecIn;
+
+    const uint8_t   * pDataSrc=(const uint8_t  *)pSrc->pData;
+    uint8_t   * pDataDst=(uint8_t  *)pDst->pData;
+
+#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 */
+        return ARM_MATH_SIZE_MISMATCH;
+    }
+#endif
+
+    vecOffs = vidupq_u16((uint32_t)0, 1);
+    vecOffs = vecOffs * pSrc->numCols;
+
+    i = pSrc->numCols;
+    do
+    {
+        pDataC = (uint8_t const *) pDataSrc;
+        pDataDestR = (uint8_t*)pDataDst;
+
+        blkCnt = pSrc->numRows >> 3;
+        while (blkCnt > 0U)
+        {
+            /* widened loads */
+            vecIn = vldrbq_gather_offset_u16(pDataC, vecOffs);
+            vstrbq_u16(pDataDestR, vecIn);  
+            pDataDestR += 8;
+            pDataC = pDataC + pSrc->numCols * 8;
+            /*
+             * Decrement the blockSize loop counter
+             */
+            blkCnt--;
+        }
+
+        /*
+         * tail
+         * (will be merged thru tail predication)
+         */
+        blkCnt = pSrc->numRows & 7;
+        if (blkCnt > 0U)
+        {
+            mve_pred16_t p0 = vctp16q(blkCnt);
+            vecIn = vldrbq_gather_offset_u16(pDataC, vecOffs);
+            vstrbq_p_u16(pDataDestR, vecIn, p0);
+        }
+        pDataSrc += 1;
+        pDataDst += pSrc->numRows;
+    }
+    while (--i);
+
+    return (ARM_MATH_SUCCESS);
+}
+#else
+arm_status arm_mat_trans_q7(const arm_matrix_instance_q7 *pSrc, arm_matrix_instance_q7 *pDst)
+{
+    q7_t *pSrcA = pSrc->pData;         /* input data matrix pointer */
+    q7_t *pOut = pDst->pData;          /* output data matrix pointer */
+    uint16_t nRows = pSrc->numRows;    /* number of nRows */
+    uint16_t nColumns = pSrc->numCols; /* number of nColumns */
+    uint16_t col, row = nRows, i = 0U; /* row and column 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 {
+            /* The pointer pOut is set to starting address of the column being processed */
+            pOut = pDst->pData + i;
+
+            /* Initialize column loop counter */
+            col = nColumns;
+
+
+            while (col > 0U) {
+                /* Read and store the input element in the destination */
+                *pOut = *pSrcA++;
+
+                /* Update the pointer pOut to point to the next row of the transposed matrix */
+                pOut += nRows;
+
+                /* Decrement the column loop counter */
+                col--;
+            }
+
+            i++;
+
+            /* Decrement the row loop counter */
+            row--;
+
+        } while (row > 0U);
+
+        /* set status as ARM_MATH_SUCCESS */
+        status = ARM_MATH_SUCCESS;
+    }
+    /* Return to application */
+    return (status);
+}
+#endif /* defined(ARM_MATH_MVEI) */
+
+
+/**
+  @} end of MatrixTrans group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_vec_mult_f16.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_vec_mult_f16.c
new file mode 100644
index 0000000..f592f6f
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_vec_mult_f16.c
@@ -0,0 +1,396 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_vec_mult_f16.c
+ * Description:  Floating-point matrix and vector 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_f16.h"
+
+#if defined(ARM_FLOAT16_SUPPORTED)
+
+
+/**
+ * @ingroup groupMatrix
+ */
+
+
+/**
+ * @addtogroup MatrixVectMult
+ * @{
+ */
+
+/**
+ * @brief Floating-point matrix and vector multiplication.
+ * @param[in]       *pSrcMat points to the input matrix structure
+ * @param[in]       *pVec points to input vector
+ * @param[out]      *pDst points to output vector
+ */
+#if defined(ARM_MATH_MVE_FLOAT16) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+void arm_mat_vec_mult_f16(
+    const arm_matrix_instance_f16   *pSrcMat,
+    const float16_t                 *pSrcVec,
+    float16_t                       *pDstVec)
+{
+    uint32_t         numRows = pSrcMat->numRows;
+    uint32_t         numCols = pSrcMat->numCols;
+    const float16_t *pSrcA = pSrcMat->pData;
+    const float16_t *pInA0;
+    const float16_t *pInA1;
+    float16_t       *px;
+    int32_t          row;
+    uint32_t         blkCnt;           /* loop counters */
+
+    row = numRows;
+    px = pDstVec;
+
+    /*
+     * compute 4 rows in parallel
+     */
+    while (row >= 4)
+    {
+        const float16_t     *pInA2, *pInA3;
+        float16_t const    *pSrcA0Vec, *pSrcA1Vec, *pSrcA2Vec, *pSrcA3Vec, *pInVec;
+        f16x8_t            vecIn, acc0, acc1, acc2, acc3;
+        float16_t const     *pSrcVecPtr = pSrcVec;
+
+        /*
+         * Initialize the pointers to 4 consecutive MatrixA rows
+         */
+        pInA0 = pSrcA;
+        pInA1 = pInA0 + numCols;
+        pInA2 = pInA1 + numCols;
+        pInA3 = pInA2 + numCols;
+        /*
+         * Initialize the vector pointer
+         */
+        pInVec =  pSrcVecPtr;
+        /*
+         * reset accumulators
+         */
+        acc0 = vdupq_n_f16(0.0f);
+        acc1 = vdupq_n_f16(0.0f);
+        acc2 = vdupq_n_f16(0.0f);
+        acc3 = vdupq_n_f16(0.0f);
+
+        pSrcA0Vec = pInA0;
+        pSrcA1Vec = pInA1;
+        pSrcA2Vec = pInA2;
+        pSrcA3Vec = pInA3;
+
+        blkCnt = numCols >> 3;
+        while (blkCnt > 0U)
+        {
+            f16x8_t vecA;
+
+            vecIn = vld1q(pInVec);      
+            pInVec += 8;
+            vecA = vld1q(pSrcA0Vec);    
+            pSrcA0Vec += 8;
+            acc0 = vfmaq(acc0, vecIn, vecA);
+            vecA = vld1q(pSrcA1Vec);  
+            pSrcA1Vec += 8;
+            acc1 = vfmaq(acc1, vecIn, vecA);
+            vecA = vld1q(pSrcA2Vec);  
+            pSrcA2Vec += 8;
+            acc2 = vfmaq(acc2, vecIn, vecA);
+            vecA = vld1q(pSrcA3Vec);  
+            pSrcA3Vec += 8;
+            acc3 = vfmaq(acc3, vecIn, vecA);
+
+            blkCnt--;
+        }
+        /*
+         * tail
+         * (will be merged thru tail predication)
+         */
+        blkCnt = numCols & 7;
+        if (blkCnt > 0U)
+        {
+            mve_pred16_t p0 = vctp16q(blkCnt);
+            f16x8_t vecA;
+
+            vecIn = vldrhq_z_f16(pInVec, p0);
+            vecA = vld1q(pSrcA0Vec);
+            acc0 = vfmaq(acc0, vecIn, vecA);
+            vecA = vld1q(pSrcA1Vec);
+            acc1 = vfmaq(acc1, vecIn, vecA);
+            vecA = vld1q(pSrcA2Vec);
+            acc2 = vfmaq(acc2, vecIn, vecA);
+            vecA = vld1q(pSrcA3Vec);
+            acc3 = vfmaq(acc3, vecIn, vecA);
+        }
+        /*
+         * Sum the partial parts
+         */
+        *px++ = vecAddAcrossF16Mve(acc0);
+        *px++ = vecAddAcrossF16Mve(acc1);
+        *px++ = vecAddAcrossF16Mve(acc2);
+        *px++ = vecAddAcrossF16Mve(acc3);
+
+        pSrcA += numCols * 4;
+        /*
+         * Decrement the row loop counter
+         */
+        row -= 4;
+    }
+
+    /*
+     * compute 2 rows in parrallel
+     */
+    if (row >= 2)
+    {
+        float16_t const    *pSrcA0Vec, *pSrcA1Vec, *pInVec;
+        f16x8_t            vecIn, acc0, acc1;
+        float16_t const     *pSrcVecPtr = pSrcVec;
+
+        /*
+         * Initialize the pointers to 2 consecutive MatrixA rows
+         */
+        pInA0 = pSrcA;
+        pInA1 = pInA0 + numCols;
+        /*
+         * Initialize the vector pointer
+         */
+        pInVec = pSrcVecPtr;
+        /*
+         * reset accumulators
+         */
+        acc0 = vdupq_n_f16(0.0f);
+        acc1 = vdupq_n_f16(0.0f);
+        pSrcA0Vec = pInA0;
+        pSrcA1Vec = pInA1;
+
+        blkCnt = numCols >> 3;
+        while (blkCnt > 0U)
+        {
+            f16x8_t vecA;
+
+            vecIn = vld1q(pInVec);      
+            pInVec += 8;
+            vecA = vld1q(pSrcA0Vec);    
+            pSrcA0Vec += 8;
+            acc0 = vfmaq(acc0, vecIn, vecA);
+            vecA = vld1q(pSrcA1Vec);    
+            pSrcA1Vec += 8;
+            acc1 = vfmaq(acc1, vecIn, vecA);
+
+            blkCnt--;
+        }
+        /*
+         * tail
+         * (will be merged thru tail predication)
+         */
+        blkCnt = numCols & 7;
+        if (blkCnt > 0U)
+        {
+            mve_pred16_t p0 = vctp16q(blkCnt);
+            f16x8_t vecA;
+
+            vecIn = vldrhq_z_f16(pInVec, p0);
+            vecA = vld1q(pSrcA0Vec);
+            acc0 = vfmaq(acc0, vecIn, vecA);
+            vecA = vld1q(pSrcA1Vec);
+            acc1 = vfmaq(acc1, vecIn, vecA);
+        }
+        /*
+         * Sum the partial parts
+         */
+        *px++ = vecAddAcrossF16Mve(acc0);
+        *px++ = vecAddAcrossF16Mve(acc1);
+
+        pSrcA += numCols * 2;
+        row -= 2;
+    }
+
+    if (row >= 1)
+    {
+        f16x8_t             vecIn, acc0;
+        float16_t const     *pSrcA0Vec, *pInVec;
+        float16_t const      *pSrcVecPtr = pSrcVec;
+        /*
+         * Initialize the pointers to last MatrixA row
+         */
+        pInA0 = pSrcA;
+        /*
+         * Initialize the vector pointer
+         */
+        pInVec = pSrcVecPtr;
+        /*
+         * reset accumulators
+         */
+        acc0 = vdupq_n_f16(0.0f);
+
+        pSrcA0Vec = pInA0;
+
+        blkCnt = numCols >> 3;
+        while (blkCnt > 0U)
+        {
+            f16x8_t vecA;
+
+            vecIn = vld1q(pInVec);      
+            pInVec += 8;
+            vecA = vld1q(pSrcA0Vec);    
+            pSrcA0Vec += 8;
+            acc0 = vfmaq(acc0, vecIn, vecA);
+
+            blkCnt--;
+        }
+        /*
+         * tail
+         * (will be merged thru tail predication)
+         */
+        blkCnt = numCols & 7;
+        if (blkCnt > 0U)
+        {
+            mve_pred16_t p0 = vctp16q(blkCnt);
+            f16x8_t vecA;
+
+            vecIn = vldrhq_z_f16(pInVec, p0);
+            vecA = vld1q(pSrcA0Vec);
+            acc0 = vfmaq(acc0, vecIn, vecA);
+        }
+        /*
+         * Sum the partial parts
+         */
+        *px++ = vecAddAcrossF16Mve(acc0);
+    }
+}
+#else
+void arm_mat_vec_mult_f16(const arm_matrix_instance_f16 *pSrcMat, const float16_t *pVec, float16_t *pDst)
+{
+    uint32_t numRows = pSrcMat->numRows;
+    uint32_t numCols = pSrcMat->numCols;
+    const float16_t *pSrcA = pSrcMat->pData;
+    const float16_t *pInA1;      /* input data matrix pointer A of Q31 type */
+    const float16_t *pInA2;      /* input data matrix pointer A of Q31 type */
+    const float16_t *pInA3;      /* input data matrix pointer A of Q31 type */
+    const float16_t *pInA4;      /* input data matrix pointer A of Q31 type */
+    const float16_t *pInVec;     /* input data matrix pointer B of Q31 type */
+    float16_t *px;               /* Temporary output data matrix pointer */
+    uint16_t i, row, colCnt; /* loop counters */
+    float16_t matData, matData2, vecData, vecData2;
+
+
+    /* Process 4 rows at a time */
+    row = numRows >> 2;
+    i = 0u;
+    px = pDst;
+
+    /* The following loop performs the dot-product of each row in pSrcA with the vector */
+    /* row loop */
+    while (row > 0) {
+        /* For every row wise process, the pInVec pointer is set
+         ** to the starting address of the vector */
+        pInVec = pVec;
+
+        /* Initialize accumulators */
+        float16_t sum1 = 0.0f16;
+        float16_t sum2 = 0.0f16;
+        float16_t sum3 = 0.0f16;
+        float16_t sum4 = 0.0f16;
+
+        /* Loop unrolling: process 2 columns per iteration */
+        colCnt = numCols;
+
+        /* Initialize pointers to the starting address of the column being processed */
+        pInA1 = pSrcA + i;
+        pInA2 = pInA1 + numCols;
+        pInA3 = pInA2 + numCols;
+        pInA4 = pInA3 + numCols;
+
+
+        // Main loop: matrix-vector multiplication
+        while (colCnt > 0u) {
+            // Read 2 values from vector
+            vecData = *(pInVec)++;
+            // Read 8 values from the matrix - 2 values from each of 4 rows, and do multiply accumulate
+            matData = *(pInA1)++;
+            sum1 += (_Float16)matData * (_Float16)vecData;
+            matData = *(pInA2)++;
+            sum2 += (_Float16)matData * (_Float16)vecData;
+            matData = *(pInA3)++;
+            sum3 += (_Float16)matData * (_Float16)vecData;
+            matData = *(pInA4)++;
+            sum4 += (_Float16)matData * (_Float16)vecData;
+
+            // Decrement the loop counter
+            colCnt--;
+        }
+
+        /* Saturate and store the result in the destination buffer */
+        *px++ = sum1;
+        *px++ = sum2;
+        *px++ = sum3;
+        *px++ = sum4;
+
+        i = i + numCols * 4;
+
+        /* Decrement the row loop counter */
+        row--;
+    }
+
+    /* process any remaining rows */
+    row = numRows & 3u;
+    while (row > 0) {
+
+        float16_t sum = 0.0f16;
+        pInVec = pVec;
+        pInA1 = pSrcA + i;
+
+        colCnt = numCols >> 1;
+
+        while (colCnt > 0) {
+            vecData = *(pInVec)++;
+            vecData2 = *(pInVec)++;
+            matData = *(pInA1)++;
+            matData2 = *(pInA1)++;
+            sum += (_Float16)matData * (_Float16)vecData;
+            sum += (_Float16)matData2 * (_Float16)vecData2;
+            colCnt--;
+        }
+        // process remainder of row
+        colCnt = numCols & 1u;
+        while (colCnt > 0) {
+            sum += (_Float16)*pInA1++ * (_Float16)*pInVec++;
+            colCnt--;
+        }
+
+        *px++ = sum;
+        i = i + numCols;
+        row--;
+    }
+}
+#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
+
+/**
+ * @} end of MatrixMult group
+ */
+
+#endif /* #if defined(ARM_FLOAT16_SUPPORTED) */ 
+
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_vec_mult_f32.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_vec_mult_f32.c
new file mode 100644
index 0000000..b112d34
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_vec_mult_f32.c
@@ -0,0 +1,399 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_vec_mult_f32.c
+ * Description:  Floating-point matrix and vector 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"
+
+
+/**
+ * @ingroup groupMatrix
+ */
+
+/**
+ * @defgroup MatrixVectMult Matrix Vector Multiplication
+ *
+ * Multiplies a matrix and a vector.
+ *
+ */
+
+/**
+ * @addtogroup MatrixVectMult
+ * @{
+ */
+
+/**
+ * @brief Floating-point matrix and vector multiplication.
+ * @param[in]       *pSrcMat points to the input matrix structure
+ * @param[in]       *pVec points to input vector
+ * @param[out]      *pDst points to output vector
+ */
+#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+void arm_mat_vec_mult_f32(
+    const arm_matrix_instance_f32   *pSrcMat,
+    const float32_t                 *pSrcVec,
+    float32_t                       *pDstVec)
+{
+    uint32_t         numRows = pSrcMat->numRows;
+    uint32_t         numCols = pSrcMat->numCols;
+    const float32_t *pSrcA = pSrcMat->pData;
+    const float32_t *pInA0;
+    const float32_t *pInA1;
+    float32_t       *px;
+    int32_t          row;
+    uint32_t         blkCnt;           /* loop counters */
+
+    row = numRows;
+    px = pDstVec;
+
+    /*
+     * compute 4 rows in parallel
+     */
+    while (row >= 4)
+    {
+        const float32_t     *pInA2, *pInA3;
+        float32_t const    *pSrcA0Vec, *pSrcA1Vec, *pSrcA2Vec, *pSrcA3Vec, *pInVec;
+        f32x4_t            vecIn, acc0, acc1, acc2, acc3;
+        float32_t const     *pSrcVecPtr = pSrcVec;
+
+        /*
+         * Initialize the pointers to 4 consecutive MatrixA rows
+         */
+        pInA0 = pSrcA;
+        pInA1 = pInA0 + numCols;
+        pInA2 = pInA1 + numCols;
+        pInA3 = pInA2 + numCols;
+        /*
+         * Initialize the vector pointer
+         */
+        pInVec =  pSrcVecPtr;
+        /*
+         * reset accumulators
+         */
+        acc0 = vdupq_n_f32(0.0f);
+        acc1 = vdupq_n_f32(0.0f);
+        acc2 = vdupq_n_f32(0.0f);
+        acc3 = vdupq_n_f32(0.0f);
+
+        pSrcA0Vec = pInA0;
+        pSrcA1Vec = pInA1;
+        pSrcA2Vec = pInA2;
+        pSrcA3Vec = pInA3;
+
+        blkCnt = numCols >> 2;
+        while (blkCnt > 0U)
+        {
+            f32x4_t vecA;
+
+            vecIn = vld1q(pInVec);      
+            pInVec += 4;
+            vecA = vld1q(pSrcA0Vec);    
+            pSrcA0Vec += 4;
+            acc0 = vfmaq(acc0, vecIn, vecA);
+            vecA = vld1q(pSrcA1Vec);  
+            pSrcA1Vec += 4;
+            acc1 = vfmaq(acc1, vecIn, vecA);
+            vecA = vld1q(pSrcA2Vec);  
+            pSrcA2Vec += 4;
+            acc2 = vfmaq(acc2, vecIn, vecA);
+            vecA = vld1q(pSrcA3Vec);  
+            pSrcA3Vec += 4;
+            acc3 = vfmaq(acc3, vecIn, vecA);
+
+            blkCnt--;
+        }
+        /*
+         * tail
+         * (will be merged thru tail predication)
+         */
+        blkCnt = numCols & 3;
+        if (blkCnt > 0U)
+        {
+            mve_pred16_t p0 = vctp32q(blkCnt);
+            f32x4_t vecA;
+
+            vecIn = vldrwq_z_f32(pInVec, p0);
+            vecA = vld1q(pSrcA0Vec);
+            acc0 = vfmaq(acc0, vecIn, vecA);
+            vecA = vld1q(pSrcA1Vec);
+            acc1 = vfmaq(acc1, vecIn, vecA);
+            vecA = vld1q(pSrcA2Vec);
+            acc2 = vfmaq(acc2, vecIn, vecA);
+            vecA = vld1q(pSrcA3Vec);
+            acc3 = vfmaq(acc3, vecIn, vecA);
+        }
+        /*
+         * Sum the partial parts
+         */
+        *px++ = vecAddAcrossF32Mve(acc0);
+        *px++ = vecAddAcrossF32Mve(acc1);
+        *px++ = vecAddAcrossF32Mve(acc2);
+        *px++ = vecAddAcrossF32Mve(acc3);
+
+        pSrcA += numCols * 4;
+        /*
+         * Decrement the row loop counter
+         */
+        row -= 4;
+    }
+
+    /*
+     * compute 2 rows in parrallel
+     */
+    if (row >= 2)
+    {
+        float32_t const    *pSrcA0Vec, *pSrcA1Vec, *pInVec;
+        f32x4_t            vecIn, acc0, acc1;
+        float32_t const     *pSrcVecPtr = pSrcVec;
+
+        /*
+         * Initialize the pointers to 2 consecutive MatrixA rows
+         */
+        pInA0 = pSrcA;
+        pInA1 = pInA0 + numCols;
+        /*
+         * Initialize the vector pointer
+         */
+        pInVec = pSrcVecPtr;
+        /*
+         * reset accumulators
+         */
+        acc0 = vdupq_n_f32(0.0f);
+        acc1 = vdupq_n_f32(0.0f);
+        pSrcA0Vec = pInA0;
+        pSrcA1Vec = pInA1;
+
+        blkCnt = numCols >> 2;
+        while (blkCnt > 0U)
+        {
+            f32x4_t vecA;
+
+            vecIn = vld1q(pInVec);      
+            pInVec += 4;
+            vecA = vld1q(pSrcA0Vec);    
+            pSrcA0Vec += 4;
+            acc0 = vfmaq(acc0, vecIn, vecA);
+            vecA = vld1q(pSrcA1Vec);    
+            pSrcA1Vec += 4;
+            acc1 = vfmaq(acc1, vecIn, vecA);
+
+            blkCnt--;
+        }
+        /*
+         * tail
+         * (will be merged thru tail predication)
+         */
+        blkCnt = numCols & 3;
+        if (blkCnt > 0U)
+        {
+            mve_pred16_t p0 = vctp32q(blkCnt);
+            f32x4_t vecA;
+
+            vecIn = vldrwq_z_f32(pInVec, p0);
+            vecA = vld1q(pSrcA0Vec);
+            acc0 = vfmaq(acc0, vecIn, vecA);
+            vecA = vld1q(pSrcA1Vec);
+            acc1 = vfmaq(acc1, vecIn, vecA);
+        }
+        /*
+         * Sum the partial parts
+         */
+        *px++ = vecAddAcrossF32Mve(acc0);
+        *px++ = vecAddAcrossF32Mve(acc1);
+
+        pSrcA += numCols * 2;
+        row -= 2;
+    }
+
+    if (row >= 1)
+    {
+        f32x4_t             vecIn, acc0;
+        float32_t const     *pSrcA0Vec, *pInVec;
+        float32_t const      *pSrcVecPtr = pSrcVec;
+        /*
+         * Initialize the pointers to last MatrixA row
+         */
+        pInA0 = pSrcA;
+        /*
+         * Initialize the vector pointer
+         */
+        pInVec = pSrcVecPtr;
+        /*
+         * reset accumulators
+         */
+        acc0 = vdupq_n_f32(0.0f);
+
+        pSrcA0Vec = pInA0;
+
+        blkCnt = numCols >> 2;
+        while (blkCnt > 0U)
+        {
+            f32x4_t vecA;
+
+            vecIn = vld1q(pInVec);      
+            pInVec += 4;
+            vecA = vld1q(pSrcA0Vec);    
+            pSrcA0Vec += 4;
+            acc0 = vfmaq(acc0, vecIn, vecA);
+
+            blkCnt--;
+        }
+        /*
+         * tail
+         * (will be merged thru tail predication)
+         */
+        blkCnt = numCols & 3;
+        if (blkCnt > 0U)
+        {
+            mve_pred16_t p0 = vctp32q(blkCnt);
+            f32x4_t vecA;
+
+            vecIn = vldrwq_z_f32(pInVec, p0);
+            vecA = vld1q(pSrcA0Vec);
+            acc0 = vfmaq(acc0, vecIn, vecA);
+        }
+        /*
+         * Sum the partial parts
+         */
+        *px++ = vecAddAcrossF32Mve(acc0);
+    }
+}
+#else
+
+void arm_mat_vec_mult_f32(const arm_matrix_instance_f32 *pSrcMat, const float32_t *pVec, float32_t *pDst)
+{
+    uint32_t numRows = pSrcMat->numRows;
+    uint32_t numCols = pSrcMat->numCols;
+    const float32_t *pSrcA = pSrcMat->pData;
+    const float32_t *pInA1;      /* input data matrix pointer A of Q31 type */
+    const float32_t *pInA2;      /* input data matrix pointer A of Q31 type */
+    const float32_t *pInA3;      /* input data matrix pointer A of Q31 type */
+    const float32_t *pInA4;      /* input data matrix pointer A of Q31 type */
+    const float32_t *pInVec;     /* input data matrix pointer B of Q31 type */
+    float32_t *px;               /* Temporary output data matrix pointer */
+    uint16_t i, row, colCnt; /* loop counters */
+    float32_t matData, matData2, vecData, vecData2;
+
+
+    /* Process 4 rows at a time */
+    row = numRows >> 2;
+    i = 0u;
+    px = pDst;
+
+    /* The following loop performs the dot-product of each row in pSrcA with the vector */
+    /* row loop */
+    while (row > 0) {
+        /* Initialize accumulators */
+        float32_t sum1 = 0.0f;
+        float32_t sum2 = 0.0f;
+        float32_t sum3 = 0.0f;
+        float32_t sum4 = 0.0f;
+
+        /* For every row wise process, the pInVec pointer is set
+         ** to the starting address of the vector */
+        pInVec = pVec;
+
+        /* Loop unrolling: process 2 columns per iteration */
+        colCnt = numCols;
+
+        /* Initialize pointers to the starting address of the column being processed */
+        pInA1 = pSrcA + i;
+        pInA2 = pInA1 + numCols;
+        pInA3 = pInA2 + numCols;
+        pInA4 = pInA3 + numCols;
+
+
+        // Main loop: matrix-vector multiplication
+        while (colCnt > 0u) {
+            // Read 2 values from vector
+            vecData = *(pInVec)++;
+            // Read 8 values from the matrix - 2 values from each of 4 rows, and do multiply accumulate
+            matData = *(pInA1)++;
+            sum1 += matData * vecData;
+            matData = *(pInA2)++;
+            sum2 += matData * vecData;
+            matData = *(pInA3)++;
+            sum3 += matData * vecData;
+            matData = *(pInA4)++;
+            sum4 += matData * vecData;
+
+            // Decrement the loop counter
+            colCnt--;
+        }
+
+        /* Saturate and store the result in the destination buffer */
+        *px++ = sum1;
+        *px++ = sum2;
+        *px++ = sum3;
+        *px++ = sum4;
+
+        i = i + numCols * 4;
+
+        /* Decrement the row loop counter */
+        row--;
+    }
+
+    /* process any remaining rows */
+    row = numRows & 3u;
+    while (row > 0) {
+
+        float32_t sum = 0.0f;
+        pInVec = pVec;
+        pInA1 = pSrcA + i;
+
+        colCnt = numCols >> 1;
+        while (colCnt > 0) {
+            vecData = *(pInVec)++;
+            vecData2 = *(pInVec)++;
+            matData = *(pInA1)++;
+            matData2 = *(pInA1)++;
+            sum += matData * vecData;
+            sum += matData2 * vecData2;
+            colCnt--;
+        }
+        // process remainder of row
+        colCnt = numCols & 1u;
+
+
+        while (colCnt > 0) {
+            sum += *pInA1++ * *pInVec++;
+            colCnt--;
+        }
+
+        *px++ = sum;
+        i = i + numCols;
+        row--;
+    }
+}
+#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
+
+/**
+ * @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_vec_mult_q15.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_vec_mult_q15.c
new file mode 100644
index 0000000..04499f9
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_vec_mult_q15.c
@@ -0,0 +1,388 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_vec_mult_q15.c
+ * Description:  Q15 matrix and vector 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"
+
+/**
+ * @ingroup groupMatrix
+ */
+
+
+
+/**
+ * @addtogroup MatrixVectMult
+ * @{
+ */
+
+/**
+ * @brief Q15 matrix and vector multiplication.
+ * @param[in]       *pSrcMat points to the input matrix structure
+ * @param[in]       *pVec points to input vector
+ * @param[out]      *pDst points to output vector
+ */
+#if defined(ARM_MATH_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+void arm_mat_vec_mult_q15(
+    const arm_matrix_instance_q15 * pSrcMat,
+    const q15_t     *pSrcVec,
+    q15_t           *pDstVec)
+{
+    const q15_t *pMatSrc = pSrcMat->pData;
+    const q15_t *pMat0, *pMat1;
+    uint32_t     numRows = pSrcMat->numRows;
+    uint32_t     numCols = pSrcMat->numCols;
+    q15_t       *px;
+    int32_t      row;
+    uint16_t     blkCnt;           /* loop counters */
+
+    row = numRows;
+    px = pDstVec;
+
+    /*
+     * compute 3x64-bit accumulators per loop
+     */
+    while (row >= 3)
+    {
+        q15_t const *pMat0Vec, *pMat1Vec, *pMat2Vec, *pVec;
+        const q15_t  *pMat2;
+        q15_t const  *pSrcVecPtr = pSrcVec;
+        q63_t         acc0, acc1, acc2;
+        q15x8_t     vecMatA0, vecMatA1, vecMatA2, vecIn;
+
+
+        pVec = pSrcVec;
+        /*
+         * Initialize the pointer pIn1 to point to the starting address of the column being processed
+         */
+        pMat0 = pMatSrc;
+        pMat1 = pMat0 + numCols;
+        pMat2 = pMat1 + numCols;
+
+        acc0 = 0LL;
+        acc1 = 0LL;
+        acc2 = 0LL;
+
+        pMat0Vec = pMat0;
+        pMat1Vec = pMat1;
+        pMat2Vec = pMat2;
+        pVec = pSrcVecPtr;
+
+        blkCnt = numCols >> 3;
+        while (blkCnt > 0U)
+        {
+            vecMatA0 = vld1q(pMat0Vec); 
+            pMat0Vec += 8;
+            vecMatA1 = vld1q(pMat1Vec); 
+            pMat1Vec += 8;
+            vecMatA2 = vld1q(pMat2Vec); 
+            pMat2Vec += 8;
+            vecIn = vld1q(pVec);        
+            pVec += 8;
+
+            acc0 = vmlaldavaq(acc0, vecIn, vecMatA0);
+            acc1 = vmlaldavaq(acc1, vecIn, vecMatA1);
+            acc2 = vmlaldavaq(acc2, vecIn, vecMatA2);
+
+            blkCnt--;
+        }
+        /*
+         * tail
+         * (will be merged thru tail predication)
+         */
+        blkCnt = numCols & 7;
+        if (blkCnt > 0U)
+        {
+            mve_pred16_t p0 = vctp16q(blkCnt);
+
+            vecMatA0 = vld1q(pMat0Vec);
+            vecMatA1 = vld1q(pMat1Vec);
+            vecMatA2 = vld1q(pMat2Vec);
+            vecIn = vldrhq_z_s16(pVec, p0);
+
+            acc0 = vmlaldavaq(acc0, vecIn, vecMatA0);
+            acc1 = vmlaldavaq(acc1, vecIn, vecMatA1);
+            acc2 = vmlaldavaq(acc2, vecIn, vecMatA2);
+        }
+
+        *px++ = MVE_ASRL_SAT16(acc0, 15);
+        *px++ = MVE_ASRL_SAT16(acc1, 15);
+        *px++ = MVE_ASRL_SAT16(acc2, 15);
+
+        pMatSrc += numCols * 3;
+        /*
+         * Decrement the row loop counter
+         */
+        row -= 3;
+    }
+
+    /*
+     * process any remaining rows pair
+     */
+    if (row >= 2)
+    {
+        q15_t const *pMat0Vec, *pMat1Vec, *pVec;
+        q15_t const  *pSrcVecPtr = pSrcVec;
+        q63_t         acc0, acc1;
+        q15x8_t     vecMatA0, vecMatA1, vecIn;
+
+        /*
+         * For every row wise process, the pInVec pointer is set
+         * to the starting address of the vector
+         */
+        pVec = pSrcVec;
+
+        /*
+         * Initialize the pointer pIn1 to point to the starting address of the column being processed
+         */
+        pMat0 = pMatSrc;
+        pMat1 = pMat0 + numCols;
+
+        acc0 = 0LL;
+        acc1 = 0LL;
+
+        pMat0Vec = pMat0;
+        pMat1Vec = pMat1;
+        pVec = pSrcVecPtr;
+
+        blkCnt = numCols >> 3;
+        while (blkCnt > 0U)
+        {
+            vecMatA0 = vld1q(pMat0Vec); 
+            pMat0Vec += 8;
+            vecMatA1 = vld1q(pMat1Vec); 
+            pMat1Vec += 8;
+            vecIn = vld1q(pVec);        
+            pVec += 8;
+
+            acc0 = vmlaldavaq(acc0, vecIn, vecMatA0);
+            acc1 = vmlaldavaq(acc1, vecIn, vecMatA1);
+
+            blkCnt--;
+        }
+
+        /*
+         * tail
+         * (will be merged thru tail predication)
+         */
+        blkCnt = numCols & 7;
+        if (blkCnt > 0U)
+        {
+            mve_pred16_t p0 = vctp16q(blkCnt);
+
+            vecMatA0 = vld1q(pMat0Vec);
+            vecMatA1 = vld1q(pMat1Vec);
+            vecIn = vldrhq_z_s16(pVec, p0);
+
+            acc0 = vmlaldavaq(acc0, vecIn, vecMatA0);
+            acc1 = vmlaldavaq(acc1, vecIn, vecMatA1);
+        }
+
+        *px++ = MVE_ASRL_SAT16(acc0, 15);
+        *px++ = MVE_ASRL_SAT16(acc1, 15);
+
+        pMatSrc += numCols * 2;
+        /*
+         * Decrement the row loop counter
+         */
+        row -= 2;
+    }
+
+    if (row >= 1)
+    {
+        q15_t const *pMat0Vec, *pVec;
+        q15_t const  *pSrcVecPtr = pSrcVec;
+        q63_t         acc0;
+        q15x8_t     vecMatA0, vecIn;
+
+        /*
+         * For every row wise process, the pInVec pointer is set
+         * to the starting address of the vector
+         */
+        pVec = pSrcVec;
+
+        /*
+         * Initialize the pointer pIn1 to point to the starting address of the column being processed
+         */
+        pMat0 = pMatSrc;
+
+        acc0 = 0LL;
+
+        pMat0Vec = pMat0;
+        pVec = pSrcVecPtr;
+
+        blkCnt = numCols >> 3;
+        while (blkCnt > 0U)
+        {
+            vecMatA0 = vld1q(pMat0Vec); 
+            pMat0Vec += 8;
+            vecIn = vld1q(pVec);        
+            pVec += 8;
+            acc0 = vmlaldavaq(acc0, vecIn, vecMatA0);
+            blkCnt--;
+        }
+        /*
+         * tail
+         * (will be merged thru tail predication)
+         */
+        blkCnt = numCols & 7;
+        if (blkCnt > 0U)
+        {
+            mve_pred16_t p0 = vctp16q(blkCnt);
+
+            vecMatA0 = vld1q(pMat0Vec);
+            vecIn = vldrhq_z_s16(pVec, p0);
+            acc0 = vmlaldavaq(acc0, vecIn, vecMatA0);
+        }
+        *px++ = MVE_ASRL_SAT16(acc0, 15);
+    }
+}
+
+#else
+void arm_mat_vec_mult_q15(const arm_matrix_instance_q15 *pSrcMat, const q15_t *pVec, q15_t *pDst)
+{
+    uint32_t numRows = pSrcMat->numRows;
+    uint32_t numCols = pSrcMat->numCols;
+    const q15_t *pSrcA = pSrcMat->pData;
+    const q15_t *pInA1;      /* input data matrix pointer A of Q15 type */
+    const q15_t *pInA2;      /* input data matrix pointer A of Q15 type */
+    const q15_t *pInA3;      /* input data matrix pointer A of Q15 type */
+    const q15_t *pInA4;      /* input data matrix pointer A of Q15 type */
+    const q15_t *pInVec;     /* input data matrix pointer B of Q15 type */
+    q15_t *px;               /* Temporary output data matrix pointer */
+    uint16_t i, row, colCnt; /* loop counters */
+    q31_t matData, matData2, vecData, vecData2;
+
+
+    /* Process 4 rows at a time */
+    row = numRows >> 2;
+    i = 0u;
+    px = pDst;
+
+    /* The following loop performs the dot-product of each row in pSrcA with the vector */
+    /* row loop */
+    while (row > 0) {
+        /* Initialize accumulators */
+        q63_t sum1 = 0;
+        q63_t sum2 = 0;
+        q63_t sum3 = 0;
+        q63_t sum4 = 0;
+
+        /* For every row wise process, the pInVec pointer is set
+         ** to the starting address of the vector */
+        pInVec = pVec;
+
+        /* Loop unrolling: process 2 columns per iteration */
+        colCnt = numCols >> 1;
+
+        /* Initialize pointers to the starting address of the column being processed */
+        pInA1 = pSrcA + i;
+        pInA2 = pInA1 + numCols;
+        pInA3 = pInA2 + numCols;
+        pInA4 = pInA3 + numCols;
+
+        // Main loop: matrix-vector multiplication
+        while (colCnt > 0u) {
+            // Read 2 values from vector
+            vecData = read_q15x2_ia (&pInVec);
+
+            // Read 8 values from the matrix - 2 values from each of 4 rows, and do multiply accumulate
+            matData =  read_q15x2_ia (&pInA1);
+            sum1 = __SMLALD(matData, vecData, sum1);
+            matData = read_q15x2_ia (&pInA2);
+            sum2 = __SMLALD(matData, vecData, sum2);
+            matData = read_q15x2_ia (&pInA3);
+            sum3 = __SMLALD(matData, vecData, sum3);
+            matData = read_q15x2_ia (&pInA4);
+            sum4 = __SMLALD(matData, vecData, sum4);
+
+            // Decrement the loop counter
+            colCnt--;
+        }
+
+        /* process any remaining columns */
+        colCnt = numCols & 1u;
+        if (numCols & 1u) {
+            vecData = *pInVec++;
+            sum1 += (q63_t)*pInA1++ * vecData;
+            sum2 += (q63_t)*pInA2++ * vecData;
+            sum3 += (q63_t)*pInA3++ * vecData;
+            sum4 += (q63_t)*pInA4++ * vecData;
+        }
+
+        /* Saturate and store the result in the destination buffer */
+        *px++ = (q15_t)(__SSAT((sum1 >> 15), 16));
+        *px++ = (q15_t)(__SSAT((sum2 >> 15), 16));
+        *px++ = (q15_t)(__SSAT((sum3 >> 15), 16));
+        *px++ = (q15_t)(__SSAT((sum4 >> 15), 16));
+
+        i = i + numCols * 4;
+
+        /* Decrement the row loop counter */
+        row--;
+    }
+
+    /* process any remaining rows */
+    row = numRows & 3u;
+    while (row > 0) {
+
+        q63_t sum = 0;
+        pInVec = pVec;
+        pInA1 = pSrcA + i;
+
+        // loop unrolling - process 4 elements at a time
+        colCnt = numCols >> 2;
+
+        while (colCnt > 0) {
+            vecData = read_q15x2_ia (&pInVec);
+            vecData2 = read_q15x2_ia (&pInVec);
+            matData = read_q15x2_ia (&pInA1);
+            matData2 = read_q15x2_ia (&pInA1);
+            sum = __SMLALD(matData, vecData, sum);
+            sum = __SMLALD(matData2, vecData2, sum);
+            colCnt--;
+        }
+
+        // process remainder of row
+        colCnt = numCols & 3u;
+        while (colCnt > 0) {
+            sum += (q63_t)*pInA1++ * *pInVec++;
+            colCnt--;
+        }
+        *px++ = (q15_t)(__SSAT((sum >> 15), 16));
+        i = i + numCols;
+        row--;
+    }
+}
+#endif /* defined(ARM_MATH_MVEI) */
+
+/**
+ * @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_vec_mult_q31.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_vec_mult_q31.c
new file mode 100644
index 0000000..9f491ea
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_vec_mult_q31.c
@@ -0,0 +1,376 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_vec_mult_q31.c
+ * Description:  Q31 matrix and vector 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"
+
+/**
+ * @ingroup groupMatrix
+ */
+
+
+
+/**
+ * @addtogroup MatrixVectMult
+ * @{
+ */
+
+/**
+ * @brief Q31 matrix and vector multiplication.
+ * @param[in]       *pSrcMat points to the input matrix structure
+ * @param[in]       *pVec points to the input vector
+ * @param[out]      *pDst points to the output vector
+ */
+#if defined(ARM_MATH_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+void arm_mat_vec_mult_q31(
+    const arm_matrix_instance_q31 * pSrcMat,
+    const q31_t     *pSrcVec,
+    q31_t           *pDstVec)
+{
+    const q31_t *pMatSrc = pSrcMat->pData;
+    const q31_t *pMat0, *pMat1;
+    uint32_t     numRows = pSrcMat->numRows;
+    uint32_t     numCols = pSrcMat->numCols;
+    q31_t       *px;
+    int32_t      row;
+    uint16_t     blkCnt;           /* loop counters */
+
+    row = numRows;
+    px = pDstVec;
+
+    /*
+     * compute 3x64-bit accumulators per loop
+     */
+    while (row >= 3)
+    {
+        q31_t const *pMat0Vec, *pMat1Vec, *pMat2Vec, *pVec;
+        const q31_t  *pMat2;
+        q31_t const  *pSrcVecPtr = pSrcVec;
+        q63_t         acc0, acc1, acc2;
+        q31x4_t     vecMatA0, vecMatA1, vecMatA2, vecIn;
+
+
+        pVec = pSrcVec;
+        /*
+         * Initialize the pointer pIn1 to point to the starting address of the column being processed
+         */
+        pMat0 = pMatSrc;
+        pMat1 = pMat0 + numCols;
+        pMat2 = pMat1 + numCols;
+
+        acc0 = 0LL;
+        acc1 = 0LL;
+        acc2 = 0LL;
+
+        pMat0Vec = pMat0;
+        pMat1Vec = pMat1;
+        pMat2Vec = pMat2;
+        pVec = pSrcVecPtr;
+
+        blkCnt = numCols >> 2;
+        while (blkCnt > 0U)
+        {
+            vecMatA0 = vld1q(pMat0Vec); 
+            pMat0Vec += 4;
+            vecMatA1 = vld1q(pMat1Vec); 
+            pMat1Vec += 4;
+            vecMatA2 = vld1q(pMat2Vec); 
+            pMat2Vec += 4;
+            vecIn = vld1q(pVec);        
+            pVec += 4;
+
+            acc0 = vmlaldavaq(acc0, vecIn, vecMatA0);
+            acc1 = vmlaldavaq(acc1, vecIn, vecMatA1);
+            acc2 = vmlaldavaq(acc2, vecIn, vecMatA2);
+
+            blkCnt--;
+        }
+        /*
+         * tail
+         * (will be merged thru tail predication)
+         */
+        blkCnt = numCols & 3;
+        if (blkCnt > 0U)
+        {
+            mve_pred16_t p0 = vctp32q(blkCnt);
+
+            vecMatA0 = vld1q(pMat0Vec);
+            vecMatA1 = vld1q(pMat1Vec);
+            vecMatA2 = vld1q(pMat2Vec);
+            vecIn = vldrwq_z_s32(pVec, p0);
+
+            acc0 = vmlaldavaq(acc0, vecIn, vecMatA0);
+            acc1 = vmlaldavaq(acc1, vecIn, vecMatA1);
+            acc2 = vmlaldavaq(acc2, vecIn, vecMatA2);
+        }
+
+        *px++ = asrl(acc0, 31);
+        *px++ = asrl(acc1, 31);
+        *px++ = asrl(acc2, 31);
+
+        pMatSrc += numCols * 3;
+        /*
+         * Decrement the row loop counter
+         */
+        row -= 3;
+    }
+
+    /*
+     * process any remaining rows pair
+     */
+    if (row >= 2)
+    {
+        q31_t const *pMat0Vec, *pMat1Vec, *pVec;
+        q31_t const  *pSrcVecPtr = pSrcVec;
+        q63_t         acc0, acc1;
+        q31x4_t     vecMatA0, vecMatA1, vecIn;
+
+        /*
+         * For every row wise process, the pInVec pointer is set
+         * to the starting address of the vector
+         */
+        pVec = pSrcVec;
+
+        /*
+         * Initialize the pointer pIn1 to point to the starting address of the column being processed
+         */
+        pMat0 = pMatSrc;
+        pMat1 = pMat0 + numCols;
+
+        acc0 = 0LL;
+        acc1 = 0LL;
+
+        pMat0Vec = pMat0;
+        pMat1Vec = pMat1;
+        pVec = pSrcVecPtr;
+
+        blkCnt = numCols >> 2;
+        while (blkCnt > 0U)
+        {
+            vecMatA0 = vld1q(pMat0Vec); 
+            pMat0Vec += 4;
+            vecMatA1 = vld1q(pMat1Vec); 
+            pMat1Vec += 4;
+            vecIn = vld1q(pVec);        
+            pVec += 4;
+
+            acc0 = vmlaldavaq(acc0, vecIn, vecMatA0);
+            acc1 = vmlaldavaq(acc1, vecIn, vecMatA1);
+
+            blkCnt--;
+        }
+
+        /*
+         * tail
+         * (will be merged thru tail predication)
+         */
+        blkCnt = numCols & 3;
+        if (blkCnt > 0U)
+        {
+            mve_pred16_t p0 = vctp32q(blkCnt);
+
+            vecMatA0 = vld1q(pMat0Vec);
+            vecMatA1 = vld1q(pMat1Vec);
+            vecIn = vldrwq_z_s32(pVec, p0);
+
+            acc0 = vmlaldavaq(acc0, vecIn, vecMatA0);
+            acc1 = vmlaldavaq(acc1, vecIn, vecMatA1);
+        }
+
+        *px++ = asrl(acc0, 31);
+        *px++ = asrl(acc1, 31);
+
+        pMatSrc += numCols * 2;
+        /*
+         * Decrement the row loop counter
+         */
+        row -= 2;
+    }
+
+    if (row >= 1)
+    {
+        q31_t const *pMat0Vec, *pVec;
+        q31_t const  *pSrcVecPtr = pSrcVec;
+        q63_t         acc0;
+        q31x4_t     vecMatA0, vecIn;
+
+        /*
+         * For every row wise process, the pInVec pointer is set
+         * to the starting address of the vector
+         */
+        pVec = pSrcVec;
+
+        /*
+         * Initialize the pointer pIn1 to point to the starting address of the column being processed
+         */
+        pMat0 = pMatSrc;
+
+        acc0 = 0LL;
+
+        pMat0Vec = pMat0;
+        pVec = pSrcVecPtr;
+
+        blkCnt = numCols >> 2;
+        while (blkCnt > 0U)
+        {
+            vecMatA0 = vld1q(pMat0Vec); 
+            pMat0Vec += 4;
+            vecIn = vld1q(pVec);        
+            pVec += 4;
+            acc0 = vmlaldavaq(acc0, vecIn, vecMatA0);
+            blkCnt--;
+        }
+        /*
+         * tail
+         * (will be merged thru tail predication)
+         */
+        blkCnt = numCols & 3;
+        if (blkCnt > 0U)
+        {
+            mve_pred16_t p0 = vctp32q(blkCnt);
+
+            vecMatA0 = vld1q(pMat0Vec);
+            vecIn = vldrwq_z_s32(pVec, p0);
+            acc0 = vmlaldavaq(acc0, vecIn, vecMatA0);
+        }
+
+        *px++ = asrl(acc0, 31);
+    }
+}
+#else
+void arm_mat_vec_mult_q31(const arm_matrix_instance_q31 *pSrcMat, const q31_t *pVec, q31_t *pDst)
+{
+    uint32_t numRows = pSrcMat->numRows;
+    uint32_t numCols = pSrcMat->numCols;
+    const q31_t *pSrcA = pSrcMat->pData;
+    const q31_t *pInA1;      /* input data matrix pointer A of Q31 type */
+    const q31_t *pInA2;      /* input data matrix pointer A of Q31 type */
+    const q31_t *pInA3;      /* input data matrix pointer A of Q31 type */
+    const q31_t *pInA4;      /* input data matrix pointer A of Q31 type */
+    const q31_t *pInVec;     /* input data matrix pointer B of Q31 type */
+    q31_t *px;               /* Temporary output data matrix pointer */
+    uint16_t i, row, colCnt; /* loop counters */
+    q31_t matData, matData2, vecData, vecData2;
+
+
+    /* Process 4 rows at a time */
+    row = numRows >> 2;
+    i = 0u;
+    px = pDst;
+
+    /* The following loop performs the dot-product of each row in pSrcA with the vector */
+    /* row loop */
+    while (row > 0) {
+        /* Initialize accumulators */
+        q63_t sum1 = 0;
+        q63_t sum2 = 0;
+        q63_t sum3 = 0;
+        q63_t sum4 = 0;
+
+        /* For every row wise process, the pInVec pointer is set
+         ** to the starting address of the vector */
+        pInVec = pVec;
+
+        /* Loop unrolling: process 2 columns per iteration */
+        colCnt = numCols;
+
+        /* Initialize pointers to the starting address of the column being processed */
+        pInA1 = pSrcA + i;
+        pInA2 = pInA1 + numCols;
+        pInA3 = pInA2 + numCols;
+        pInA4 = pInA3 + numCols;
+
+
+        // Main loop: matrix-vector multiplication
+        while (colCnt > 0u) {
+            // Read 2 values from vector
+            vecData = *(pInVec)++;
+
+            // Read 8 values from the matrix - 2 values from each of 4 rows, and do multiply accumulate
+            matData = *(pInA1)++;
+            sum1 += (q63_t)matData * vecData;
+            matData = *(pInA2)++;
+            sum2 += (q63_t)matData * vecData;
+            matData = *(pInA3)++;
+            sum3 += (q63_t)matData * vecData;
+            matData = *(pInA4)++;
+            sum4 += (q63_t)matData * vecData;
+
+            // Decrement the loop counter
+            colCnt--;
+        }
+
+        /* Saturate and store the result in the destination buffer */
+        *px++ = (q31_t)(sum1 >> 31);
+        *px++ = (q31_t)(sum2 >> 31);
+        *px++ = (q31_t)(sum3 >> 31);
+        *px++ = (q31_t)(sum4 >> 31);
+
+        i = i + numCols * 4;
+
+        /* Decrement the row loop counter */
+        row--;
+    }
+
+    /* process any remaining rows */
+    row = numRows & 3u;
+    while (row > 0) {
+
+        q63_t sum = 0;
+        pInVec = pVec;
+        pInA1 = pSrcA + i;
+
+        colCnt = numCols >> 1;
+
+        while (colCnt > 0) {
+            vecData = *(pInVec)++;
+            vecData2 = *(pInVec)++;
+            matData = *(pInA1)++;
+            matData2 = *(pInA1)++;
+            sum += (q63_t)matData * vecData;
+            sum += (q63_t)matData2 * vecData2;
+            colCnt--;
+        }
+
+        // process remainder of row
+        colCnt = numCols & 1u;
+        while (colCnt > 0) {
+            sum += (q63_t)*pInA1++ * *pInVec++;
+            colCnt--;
+        }
+
+        *px++ = (q31_t)(sum >> 31);
+        i = i + numCols;
+        row--;
+    }
+}
+#endif /* defined(ARM_MATH_MVEI) */
+
+/**
+ * @} end of MatrixMult group
+ */
diff --git a/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_vec_mult_q7.c b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_vec_mult_q7.c
new file mode 100644
index 0000000..e7c7281
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/MatrixFunctions/arm_mat_vec_mult_q7.c
@@ -0,0 +1,420 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_mat_vec_mult_q7.c
+ * Description:  Q7 matrix and vector 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"
+
+/**
+ * @ingroup groupMatrix
+ */
+
+
+
+/**
+ * @addtogroup MatrixVectMult
+ * @{
+ */
+
+/**
+ * @brief Q7 matrix and vector multiplication.
+ * @param[in]       *pSrcMat points to the input matrix structure
+ * @param[in]       *pVec points to the input vector
+ * @param[out]      *pDst points to the output vector
+ */
+#if defined(ARM_MATH_MVEI) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+
+void arm_mat_vec_mult_q7(
+    const arm_matrix_instance_q7 * pSrcMat,
+    const q7_t     *pSrcVec,
+    q7_t           *pDstVec)
+{
+    const q7_t *pMatSrc = pSrcMat->pData;
+    const q7_t *pMat0, *pMat1;
+    uint32_t     numRows = pSrcMat->numRows;
+    uint32_t     numCols = pSrcMat->numCols;
+    q7_t       *px;
+    int32_t      row;
+    uint16_t     blkCnt;           /* loop counters */
+
+    row = numRows;
+    px = pDstVec;
+
+    /*
+     * compute 4x64-bit accumulators per loop
+     */
+    while (row >= 4)
+    {
+        q7_t const *pMat0Vec, *pMat1Vec, *pMat2Vec, *pMat3Vec, *pVec;
+        const q7_t  *pMat2, *pMat3;
+        q7_t const  *pSrcVecPtr = pSrcVec;
+        q31_t        acc0, acc1, acc2, acc3;
+        q7x16_t      vecMatA0, vecMatA1, vecMatA2, vecMatA3, vecIn;
+
+        pVec = pSrcVec;
+        /*
+         * Initialize the pointer pIn1 to point to the starting address of the column being processed
+         */
+        pMat0 = pMatSrc;
+        pMat1 = pMat0 + numCols;
+        pMat2 = pMat1 + numCols;
+        pMat3 = pMat2 + numCols;
+
+        acc0 = 0L;
+        acc1 = 0L;
+        acc2 = 0L;
+        acc3 = 0L;
+
+        pMat0Vec = pMat0;
+        pMat1Vec = pMat1;
+        pMat2Vec = pMat2;
+        pMat3Vec = pMat3;
+        pVec = pSrcVecPtr;
+
+        blkCnt = numCols >> 4;
+        while (blkCnt > 0U)
+        {
+
+            vecMatA0 = vld1q(pMat0Vec); 
+            pMat0Vec += 16;
+            vecMatA1 = vld1q(pMat1Vec); 
+            pMat1Vec += 16;
+            vecMatA2 = vld1q(pMat2Vec); 
+            pMat2Vec += 16;
+            vecMatA3 = vld1q(pMat3Vec); 
+            pMat3Vec += 16;
+            vecIn = vld1q(pVec);        
+            pVec += 16;
+
+            acc0 = vmladavaq(acc0, vecIn, vecMatA0);
+            acc1 = vmladavaq(acc1, vecIn, vecMatA1);
+            acc2 = vmladavaq(acc2, vecIn, vecMatA2);
+            acc3 = vmladavaq(acc3, vecIn, vecMatA3);
+
+            blkCnt--;
+        }
+        /*
+         * tail
+         * (will be merged thru tail predication)
+         */
+        blkCnt = numCols & 0xF;
+        if (blkCnt > 0U)
+        {
+            mve_pred16_t p0 = vctp8q(blkCnt);
+
+            vecMatA0 = vld1q(pMat0Vec);
+            vecMatA1 = vld1q(pMat1Vec);
+            vecMatA2 = vld1q(pMat2Vec);
+            vecMatA3 = vld1q(pMat3Vec);
+            vecIn = vldrbq_z_s8(pVec, p0);
+
+            acc0 = vmladavaq(acc0, vecIn, vecMatA0);
+            acc1 = vmladavaq(acc1, vecIn, vecMatA1);
+            acc2 = vmladavaq(acc2, vecIn, vecMatA2);
+            acc3 = vmladavaq(acc3, vecIn, vecMatA3);
+        }
+
+        *px++ = __SSAT(acc0 >> 7, 8);
+        *px++ = __SSAT(acc1 >> 7, 8);
+        *px++ = __SSAT(acc2 >> 7, 8);
+        *px++ = __SSAT(acc3 >> 7, 8);
+
+        pMatSrc += numCols * 4;
+        /*
+         * Decrement the row loop counter
+         */
+        row -= 4;
+    }
+
+    /*
+     * process any remaining rows pair
+     */
+    if (row >= 2)
+    {
+        q7_t const  *pMat0Vec, *pMat1Vec, *pVec;
+        q7_t const  *pSrcVecPtr = pSrcVec;
+        q31_t         acc0, acc1;
+        q7x16_t     vecMatA0, vecMatA1, vecIn;
+
+        /*
+         * For every row wise process, the pInVec pointer is set
+         * to the starting address of the vector
+         */
+        pVec = pSrcVec;
+
+        /*
+         * Initialize the pointer pIn1 to point to the starting address of the column being processed
+         */
+        pMat0 = pMatSrc;
+        pMat1 = pMat0 + numCols;
+
+        acc0 = 0;
+        acc1 = 0;
+
+        pMat0Vec = pMat0;
+        pMat1Vec = pMat1;
+        pVec = pSrcVecPtr;
+
+        blkCnt = numCols >> 4;
+        while (blkCnt > 0U)
+        {
+            vecMatA0 = vld1q(pMat0Vec); 
+            pMat0Vec += 16;
+            vecMatA1 = vld1q(pMat1Vec); 
+            pMat1Vec += 16;
+            vecIn = vld1q(pVec);        
+            pVec += 16;
+
+            acc0 = vmladavaq(acc0, vecIn, vecMatA0);
+            acc1 = vmladavaq(acc1, vecIn, vecMatA1);
+
+            blkCnt--;
+        }
+
+        /*
+         * tail
+         * (will be merged thru tail predication)
+         */
+        blkCnt = numCols & 0xF;
+        if (blkCnt > 0U)
+        {
+            mve_pred16_t p0 = vctp8q(blkCnt);
+
+            vecMatA0 = vld1q(pMat0Vec);
+            vecMatA1 = vld1q(pMat1Vec);
+            vecIn = vldrbq_z_s8(pVec, p0);
+
+            acc0 = vmladavaq(acc0, vecIn, vecMatA0);
+            acc1 = vmladavaq(acc1, vecIn, vecMatA1);
+        }
+
+        *px++ = __SSAT(acc0 >> 7, 8);
+        *px++ = __SSAT(acc1 >> 7, 8);
+
+        pMatSrc += numCols * 2;
+        /*
+         * Decrement the row loop counter
+         */
+        row -= 2;
+    }
+
+    if (row >= 1)
+    {
+        q7_t const  *pMat0Vec, *pVec;
+        q7_t const  *pSrcVecPtr = pSrcVec;
+        q31_t         acc0;
+        q7x16_t     vecMatA0, vecIn;
+
+        /*
+         * For every row wise process, the pInVec pointer is set
+         * to the starting address of the vector
+         */
+        pVec = pSrcVec;
+
+        /*
+         * Initialize the pointer pIn1 to point to the starting address of the column being processed
+         */
+        pMat0 = pMatSrc;
+
+        acc0 = 0LL;
+
+        pMat0Vec = pMat0;
+        pVec = pSrcVecPtr;
+
+        blkCnt = numCols >> 4;
+        while (blkCnt > 0U)
+        {
+            vecMatA0 = vld1q(pMat0Vec); 
+            pMat0Vec += 16;
+            vecIn = vld1q(pVec);        
+            pVec += 16;
+
+            acc0 = vmladavaq(acc0, vecIn, vecMatA0);
+            blkCnt--;
+        }
+        /*
+         * tail
+         * (will be merged thru tail predication)
+         */
+        blkCnt = numCols & 0xF;
+        if (blkCnt > 0U)
+        {
+            mve_pred16_t p0 = vctp8q(blkCnt);
+
+            vecMatA0 = vld1q(pMat0Vec);
+            vecIn = vldrbq_z_s8(pVec, p0);
+            acc0 = vmladavaq(acc0, vecIn, vecMatA0);
+        }
+        *px++ = __SSAT(acc0 >> 7, 8);
+    }
+}
+
+#else
+void arm_mat_vec_mult_q7(const arm_matrix_instance_q7 *pSrcMat, const q7_t *pVec, q7_t *pDst)
+{
+    uint32_t numRows = pSrcMat->numRows;
+    uint32_t numCols = pSrcMat->numCols;
+    const q7_t *pSrcA = pSrcMat->pData;
+    const q7_t *pInA1;       /* input data matrix pointer of Q7 type */
+    const q7_t *pInA2;       /* input data matrix pointer of Q7 type */
+    const q7_t *pInA3;       /* input data matrix pointer of Q7 type */
+    const q7_t *pInA4;       /* input data matrix pointer of Q7 type */
+    const q7_t *pInVec;      /* input data vector pointer of Q7 type */
+    q7_t *px;                /* output data pointer */
+    uint32_t i, row, colCnt; /* loop counters */
+
+    q31_t matData, matData2, vecData, vecData2;
+
+
+    /* Process 4 rows at a time */
+    row = numRows >> 2;
+    i = 0u;
+    px = pDst;
+
+
+
+    /* The following loop performs the dot-product of each row in pSrcA with the vector */
+    while (row > 0) {
+        /* Initialize accumulators */
+        q31_t sum1 = 0;
+        q31_t sum2 = 0;
+        q31_t sum3 = 0;
+        q31_t sum4 = 0;
+
+        /* For every row wise process, the pInVec pointer is set
+         ** to the starting address of the vector */
+        pInVec = pVec;
+
+        /* Loop unrolling: process 4 columns per iteration */
+        colCnt = numCols >> 2;
+
+        /* Initialize row pointers so we can track 4 rows at once */
+        pInA1 = pSrcA + i;
+        pInA2 = pInA1 + numCols;
+        pInA3 = pInA2 + numCols;
+        pInA4 = pInA3 + numCols;
+
+
+        // Inner loop: matrix-vector multiplication
+
+        while (colCnt > 0u) {
+            // Read 4 values from vector
+            vecData = read_q7x4_ia (&pInVec);
+            vecData2 = __SXTB16(__ROR(vecData, 8));
+            vecData = __SXTB16(vecData);
+            // Read 16 values from the matrix - 4 values from each of 4 rows, and do multiply accumulate
+            matData = read_q7x4_ia (&pInA1);
+            matData2 = __SXTB16(__ROR(matData, 8));
+            matData = __SXTB16(matData);
+            sum1 = __SMLAD(matData, vecData, sum1);
+            sum1 = __SMLAD(matData2, vecData2, sum1);
+            matData = read_q7x4_ia (&pInA2);
+            matData2 = __SXTB16(__ROR(matData, 8));
+            matData = __SXTB16(matData);
+            sum2 = __SMLAD(matData, vecData, sum2);
+            sum2 = __SMLAD(matData2, vecData2, sum2);
+            matData = read_q7x4_ia (&pInA3);
+            matData2 = __SXTB16(__ROR(matData, 8));
+            matData = __SXTB16(matData);
+            sum3 = __SMLAD(matData, vecData, sum3);
+            sum3 = __SMLAD(matData2, vecData2, sum3);
+            matData = read_q7x4_ia (&pInA4);
+            matData2 = __SXTB16(__ROR(matData, 8));
+            matData = __SXTB16(matData);
+            sum4 = __SMLAD(matData, vecData, sum4);
+            sum4 = __SMLAD(matData2, vecData2, sum4);
+
+            // Decrement the loop counter
+            colCnt--;
+        }
+
+        /* process any remaining columns */
+
+        colCnt = numCols & 3u;
+
+        while (colCnt > 0) {
+            vecData = *pInVec++;
+            sum1 += *pInA1++ * vecData;
+            sum2 += *pInA2++ * vecData;
+            sum3 += *pInA3++ * vecData;
+            sum4 += *pInA4++ * vecData;
+            colCnt--;
+        }
+
+        /* Saturate and store the result in the destination buffer */
+        *px++ = (q7_t)(__SSAT((sum1 >> 7), 8));
+        *px++ = (q7_t)(__SSAT((sum2 >> 7), 8));
+        *px++ = (q7_t)(__SSAT((sum3 >> 7), 8));
+        *px++ = (q7_t)(__SSAT((sum4 >> 7), 8));
+
+        i = i + numCols * 4;
+
+        /* Decrement the row loop counter */
+        row--;
+    }
+
+    /* process any remaining rows */
+    row = numRows & 3u;
+    while (row > 0) {
+
+        q31_t sum = 0;
+        pInVec = pVec;
+        pInA1 = pSrcA + i;
+
+        // loop unrolling - process 4 elements at a time
+        colCnt = numCols >> 2;
+
+        while (colCnt > 0) {
+            vecData = read_q7x4_ia (&pInVec);
+            vecData2 = __SXTB16(__ROR(vecData, 8));
+            vecData = __SXTB16(vecData);
+            matData = read_q7x4_ia (&pInA1);
+            matData2 = __SXTB16(__ROR(matData, 8));
+            matData = __SXTB16(matData);
+            sum = __SMLAD(matData, vecData, sum);
+            sum = __SMLAD(matData2, vecData2, sum);
+            colCnt--;
+        }
+
+        // process remainder of row
+        colCnt = numCols & 3u;
+        while (colCnt > 0) {
+            sum += *pInA1++ * *pInVec++;
+            colCnt--;
+        }
+        *px++ = (q7_t)(__SSAT((sum >> 7), 8));
+        i = i + numCols;
+        row--;
+    }
+}
+#endif /* defined(ARM_MATH_MVEI) */
+
+/**
+ * @} end of MatrixMult group
+ */