diff --git a/libs/libdsp/CMakeLists.txt b/libs/libdsp/CMakeLists.txt
index ed6c135a405..82c40895115 100644
--- a/libs/libdsp/CMakeLists.txt
+++ b/libs/libdsp/CMakeLists.txt
@@ -1,6 +1,8 @@
 # ##############################################################################
 # libs/libdsp/CMakeLists.txt
 #
+# SPDX-License-Identifier: Apache-2.0
+#
 # Licensed to the Apache Software Foundation (ASF) under one or more contributor
 # license agreements.  See the NOTICE file distributed with this work for
 # additional information regarding copyright ownership.  The ASF licenses this
diff --git a/libs/libdsp/Makefile b/libs/libdsp/Makefile
index 0d110be4c83..3d8e1b6b37a 100644
--- a/libs/libdsp/Makefile
+++ b/libs/libdsp/Makefile
@@ -1,6 +1,8 @@
 ############################################################################
 # libs/libdsp/Makefile
 #
+# SPDX-License-Identifier: Apache-2.0
+#
 # Licensed to the Apache Software Foundation (ASF) under one or more
 # contributor license agreements.  See the NOTICE file distributed with
 # this work for additional information regarding copyright ownership.  The
diff --git a/libs/libdsp/lib_avg.c b/libs/libdsp/lib_avg.c
index b552c301279..1d670165db3 100644
--- a/libs/libdsp/lib_avg.c
+++ b/libs/libdsp/lib_avg.c
@@ -1,6 +1,8 @@
 /****************************************************************************
  * libs/libdsp/lib_avg.c
  *
+ * SPDX-License-Identifier: Apache-2.0
+ *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
  * this work for additional information regarding copyright ownership.  The
diff --git a/libs/libdsp/lib_foc.c b/libs/libdsp/lib_foc.c
index 332c259016d..aa51e2fe95a 100644
--- a/libs/libdsp/lib_foc.c
+++ b/libs/libdsp/lib_foc.c
@@ -1,6 +1,8 @@
 /****************************************************************************
  * libs/libdsp/lib_foc.c
  *
+ * SPDX-License-Identifier: Apache-2.0
+ *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
  * this work for additional information regarding copyright ownership.  The
diff --git a/libs/libdsp/lib_foc_b16.c b/libs/libdsp/lib_foc_b16.c
index 81a8f412244..e29af526804 100644
--- a/libs/libdsp/lib_foc_b16.c
+++ b/libs/libdsp/lib_foc_b16.c
@@ -1,6 +1,8 @@
 /****************************************************************************
  * libs/libdsp/lib_foc_b16.c
  *
+ * SPDX-License-Identifier: Apache-2.0
+ *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
  * this work for additional information regarding copyright ownership.  The
diff --git a/libs/libdsp/lib_misc.c b/libs/libdsp/lib_misc.c
index 402113b17e9..586a9ee7753 100644
--- a/libs/libdsp/lib_misc.c
+++ b/libs/libdsp/lib_misc.c
@@ -1,6 +1,8 @@
 /****************************************************************************
  * libs/libdsp/lib_misc.c
  *
+ * SPDX-License-Identifier: Apache-2.0
+ *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
  * this work for additional information regarding copyright ownership.  The
diff --git a/libs/libdsp/lib_misc_b16.c b/libs/libdsp/lib_misc_b16.c
index 6005a98a799..1b13cd218a6 100644
--- a/libs/libdsp/lib_misc_b16.c
+++ b/libs/libdsp/lib_misc_b16.c
@@ -1,6 +1,8 @@
 /****************************************************************************
  * libs/libdsp/lib_misc_b16.c
  *
+ * SPDX-License-Identifier: Apache-2.0
+ *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
  * this work for additional information regarding copyright ownership.  The
diff --git a/libs/libdsp/lib_motor.c b/libs/libdsp/lib_motor.c
index 6411c0ea8dd..46b4e08fb6c 100644
--- a/libs/libdsp/lib_motor.c
+++ b/libs/libdsp/lib_motor.c
@@ -1,6 +1,8 @@
 /****************************************************************************
  * libs/libdsp/lib_motor.c
  *
+ * SPDX-License-Identifier: Apache-2.0
+ *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
  * this work for additional information regarding copyright ownership.  The
diff --git a/libs/libdsp/lib_motor_b16.c b/libs/libdsp/lib_motor_b16.c
index 1ddb5a266c6..8b5f9b7c274 100644
--- a/libs/libdsp/lib_motor_b16.c
+++ b/libs/libdsp/lib_motor_b16.c
@@ -1,6 +1,8 @@
 /****************************************************************************
  * libs/libdsp/lib_motor_b16.c
  *
+ * SPDX-License-Identifier: Apache-2.0
+ *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
  * this work for additional information regarding copyright ownership.  The
diff --git a/libs/libdsp/lib_observer.c b/libs/libdsp/lib_observer.c
index 82e0b642168..d248cf24322 100644
--- a/libs/libdsp/lib_observer.c
+++ b/libs/libdsp/lib_observer.c
@@ -1,6 +1,8 @@
 /****************************************************************************
  * libs/libdsp/lib_observer.c
  *
+ * SPDX-License-Identifier: Apache-2.0
+ *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
  * this work for additional information regarding copyright ownership.  The
diff --git a/libs/libdsp/lib_observer_b16.c b/libs/libdsp/lib_observer_b16.c
index d4600ba57a7..ebe6038c803 100644
--- a/libs/libdsp/lib_observer_b16.c
+++ b/libs/libdsp/lib_observer_b16.c
@@ -1,6 +1,8 @@
 /****************************************************************************
  * libs/libdsp/lib_observer_b16.c
  *
+ * SPDX-License-Identifier: Apache-2.0
+ *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
  * this work for additional information regarding copyright ownership.  The
diff --git a/libs/libdsp/lib_pid.c b/libs/libdsp/lib_pid.c
index d39f7fe6246..13c02dc11a8 100644
--- a/libs/libdsp/lib_pid.c
+++ b/libs/libdsp/lib_pid.c
@@ -1,6 +1,8 @@
 /****************************************************************************
  * libs/libdsp/lib_pid.c
  *
+ * SPDX-License-Identifier: Apache-2.0
+ *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
  * this work for additional information regarding copyright ownership.  The
diff --git a/libs/libdsp/lib_pid_b16.c b/libs/libdsp/lib_pid_b16.c
index b534c540e03..25598721c66 100644
--- a/libs/libdsp/lib_pid_b16.c
+++ b/libs/libdsp/lib_pid_b16.c
@@ -1,6 +1,8 @@
 /****************************************************************************
  * libs/libdsp/lib_pid_b16.c
  *
+ * SPDX-License-Identifier: Apache-2.0
+ *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
  * this work for additional information regarding copyright ownership.  The
diff --git a/libs/libdsp/lib_pmsm_model.c b/libs/libdsp/lib_pmsm_model.c
index 9f617512514..08dbcf9acac 100644
--- a/libs/libdsp/lib_pmsm_model.c
+++ b/libs/libdsp/lib_pmsm_model.c
@@ -1,6 +1,8 @@
 /****************************************************************************
  * libs/libdsp/lib_pmsm_model.c
  *
+ * SPDX-License-Identifier: Apache-2.0
+ *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
  * this work for additional information regarding copyright ownership.  The
diff --git a/libs/libdsp/lib_pmsm_model_b16.c b/libs/libdsp/lib_pmsm_model_b16.c
index 262922dfe5e..dfa5c4ca140 100644
--- a/libs/libdsp/lib_pmsm_model_b16.c
+++ b/libs/libdsp/lib_pmsm_model_b16.c
@@ -1,6 +1,8 @@
 /****************************************************************************
  * libs/libdsp/lib_pmsm_model_b16.c
  *
+ * SPDX-License-Identifier: Apache-2.0
+ *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
  * this work for additional information regarding copyright ownership.  The
diff --git a/libs/libdsp/lib_svm.c b/libs/libdsp/lib_svm.c
index 9879af4923e..0e31881bddf 100644
--- a/libs/libdsp/lib_svm.c
+++ b/libs/libdsp/lib_svm.c
@@ -1,6 +1,8 @@
 /****************************************************************************
  * libs/libdsp/lib_svm.c
  *
+ * SPDX-License-Identifier: Apache-2.0
+ *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
  * this work for additional information regarding copyright ownership.  The
diff --git a/libs/libdsp/lib_svm_b16.c b/libs/libdsp/lib_svm_b16.c
index 175530139b9..67074f7fa6c 100644
--- a/libs/libdsp/lib_svm_b16.c
+++ b/libs/libdsp/lib_svm_b16.c
@@ -1,6 +1,8 @@
 /****************************************************************************
  * libs/libdsp/lib_svm_b16.c
  *
+ * SPDX-License-Identifier: Apache-2.0
+ *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
  * this work for additional information regarding copyright ownership.  The
diff --git a/libs/libdsp/lib_transform.c b/libs/libdsp/lib_transform.c
index bbf9120be08..4c188d9383b 100644
--- a/libs/libdsp/lib_transform.c
+++ b/libs/libdsp/lib_transform.c
@@ -1,6 +1,8 @@
 /****************************************************************************
  * libs/libdsp/lib_transform.c
  *
+ * SPDX-License-Identifier: Apache-2.0
+ *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
  * this work for additional information regarding copyright ownership.  The
diff --git a/libs/libdsp/lib_transform_b16.c b/libs/libdsp/lib_transform_b16.c
index 6fc663c47e0..a2c78f36f25 100644
--- a/libs/libdsp/lib_transform_b16.c
+++ b/libs/libdsp/lib_transform_b16.c
@@ -1,6 +1,8 @@
 /****************************************************************************
  * libs/libdsp/lib_transform_b16.c
  *
+ * SPDX-License-Identifier: Apache-2.0
+ *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
  * this work for additional information regarding copyright ownership.  The