Index: kernel/arch/arm32/src/exception.c
===================================================================
--- kernel/arch/arm32/src/exception.c	(revision 48a209a6b8eb45ea1c37e00b7bc5365724c9c811)
+++ kernel/arch/arm32/src/exception.c	(revision b55877d41311cafdacbe0aa0189cc1695c1f3311)
@@ -167,8 +167,6 @@
 static void undef_insn_exception(unsigned int exc_no, istate_t *istate)
 {
-	if (!handle_if_fpu_exception()) {
-		fault_if_from_uspace(istate, "Undefined instruction.");
-		panic_badtrap(istate, exc_no, "Undefined instruction.");
-	} else {
+#ifdef CONFIG_FPU
+	if (handle_if_fpu_exception()) {
 		/*
 		 * Retry the failing instruction,
@@ -177,5 +175,9 @@
 		 */
 		istate->pc -= 4;
+		return;
 	}
+#endif
+	fault_if_from_uspace(istate, "Undefined instruction.");
+	panic_badtrap(istate, exc_no, "Undefined instruction.");
 }