Index: kernel/arch/arm32/src/exception.c
===================================================================
--- kernel/arch/arm32/src/exception.c	(revision 65871bbac3619bcfef8e6721cd8ed346b6151b36)
+++ kernel/arch/arm32/src/exception.c	(revision 957ce9a5e82fdc2f9f57ce2bd64154528904dfcc)
@@ -161,4 +161,18 @@
 }
 
+/** Undefined instruction exception handler.
+ *
+ * Calls scheduler_fpu_lazy_request
+ */
+static void undef_insn_exception(unsigned int exc_no, istate_t *istate)
+{
+#ifdef CONFIG_FPU_LAZY
+	scheduler_fpu_lazy_request();
+#else
+	fault_if_from_uspace(istate, "Undefined instruction.");
+	panic_badtrap(istate, exc_no, "Undefined instruction.");
+#endif
+}
+
 /** Initializes exception handling.
  *
@@ -174,4 +188,6 @@
 	install_exception_handlers();
 	
+	exc_register(EXC_UNDEF_INSTR, "undefined instruction", true,
+	    (iroutine_t) undef_insn_exception);
 	exc_register(EXC_IRQ, "interrupt", true,
 	    (iroutine_t) irq_exception);
Index: kernel/arch/arm32/src/fpu_context.c
===================================================================
--- kernel/arch/arm32/src/fpu_context.c	(revision 65871bbac3619bcfef8e6721cd8ed346b6151b36)
+++ kernel/arch/arm32/src/fpu_context.c	(revision 957ce9a5e82fdc2f9f57ce2bd64154528904dfcc)
@@ -143,4 +143,5 @@
 void fpu_init(void)
 {
+	fpu_enable();
 }