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diff --git a/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
new file mode 100644
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+++ b/src/modules/mathlib/CMSIS/DSP_Lib/Source/MatrixFunctions/arm_mat_init_f32.c
@@ -0,0 +1,86 @@
+/* ----------------------------------------------------------------------------    
+* Copyright (C) 2010 ARM Limited. All rights reserved.    
+*    
+* $Date:        15. February 2012  
+* $Revision: 	V1.1.0  
+*    
+* Project: 	    CMSIS DSP Library    
+* Title:        arm_mat_init_f32.c    
+*    
+* Description:	Floating-point matrix initialization.    
+*    
+* Target Processor: Cortex-M4/Cortex-M3/Cortex-M0
+*  
+* Version 1.1.0 2012/02/15 
+*    Updated with more optimizations, bug fixes and minor API changes.  
+*   
+* Version 1.0.10 2011/7/15  
+*    Big Endian support added and Merged M0 and M3/M4 Source code.   
+*    
+* Version 1.0.3 2010/11/29   
+*    Re-organized the CMSIS folders and updated documentation.    
+*     
+* Version 1.0.2 2010/11/11    
+*    Documentation updated.     
+*    
+* Version 1.0.1 2010/10/05     
+*    Production release and review comments incorporated.    
+*    
+* Version 1.0.0 2010/09/20     
+*    Production release and review comments incorporated.    
+*    
+* Version 0.0.5  2010/04/26     
+*    incorporated review comments and updated with latest CMSIS layer    
+*    
+* Version 0.0.3  2010/03/10     
+*    Initial version    
+* -------------------------------------------------------------------------- */
+
+#include "arm_math.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    
+ */