diff --git a/firmware/Makefile b/firmware/Makefile
index 4fb1762722..6d64cc2901 100644
--- a/firmware/Makefile
+++ b/firmware/Makefile
@@ -174,11 +174,6 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x1000
 endif
 
-# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
-ifeq ($(USE_FPU),)
-  USE_FPU = hard
-endif
-
 # and this is not working for be :( See https://github.com/rusefi/rusefi/issues/638
 # use -j4 unless some value was specified
 NUMJOBS=${NUMJOBS:-" -j4 "}
diff --git a/firmware/bootloader/Makefile b/firmware/bootloader/Makefile
index d6ac51bab8..95a82a85e9 100644
--- a/firmware/bootloader/Makefile
+++ b/firmware/bootloader/Makefile
@@ -100,11 +100,6 @@ ifeq ($(USE_EXCEPTIONS_STACKSIZE),)
   USE_EXCEPTIONS_STACKSIZE = 0x1000
 endif
 
-# Enables the use of FPU on Cortex-M4 (no, softfp, hard).
-ifeq ($(USE_FPU),)
-  USE_FPU = hard
-endif
-
 #
 # Architecture or project specific options
 ##############################################################################
diff --git a/firmware/hw_layer/ports/stm32/stm32f4/hw_ports.mk b/firmware/hw_layer/ports/stm32/stm32f4/hw_ports.mk
index abc0a92b08..97843d8a87 100644
--- a/firmware/hw_layer/ports/stm32/stm32f4/hw_ports.mk
+++ b/firmware/hw_layer/ports/stm32/stm32f4/hw_ports.mk
@@ -5,6 +5,7 @@ HW_LAYER_PORT_CPP += $(PROJECT_DIR)/hw_layer/ports/stm32/stm32f4/mpu_util.cpp \
 					$(PROJECT_DIR)/hw_layer/ports/stm32/stm32_adc_v2.cpp
 
 MCU = cortex-m4
+USE_FPU = hard
 LDSCRIPT = $(PROJECT_DIR)/hw_layer/ports/stm32/stm32f4/STM32F4.ld
 # kludge: while we the very generic ChibiOS board.c we use our custom board.h from current folder!
 ifeq ($(BOARD_C),)
diff --git a/firmware/hw_layer/ports/stm32/stm32f7/hw_ports.mk b/firmware/hw_layer/ports/stm32/stm32f7/hw_ports.mk
index f832087c4a..1455895894 100644
--- a/firmware/hw_layer/ports/stm32/stm32f7/hw_ports.mk
+++ b/firmware/hw_layer/ports/stm32/stm32f7/hw_ports.mk
@@ -12,6 +12,8 @@ USE_OPT += -falign-functions=16
 
 DDEFS += -DSTM32F767xx
 MCU = cortex-m7
+USE_FPU = hard
+USE_FPU_OPT = -mfloat-abi=$(USE_FPU) -mfpu=fpv5-d16
 LDSCRIPT = $(PROJECT_DIR)/hw_layer/ports/stm32/stm32f7/STM32F7.ld
 # kludge: while we the very generic ChibiOS board.c we use our custom board.h from current folder!
 ifeq ($(BOARD_C),)
diff --git a/firmware/hw_layer/ports/stm32/stm32h7/hw_ports.mk b/firmware/hw_layer/ports/stm32/stm32h7/hw_ports.mk
index a031c8f7c0..5a7721c41b 100644
--- a/firmware/hw_layer/ports/stm32/stm32h7/hw_ports.mk
+++ b/firmware/hw_layer/ports/stm32/stm32h7/hw_ports.mk
@@ -11,6 +11,8 @@ USE_OPT += -falign-functions=16
 
 DDEFS += -DSTM32H743xx
 MCU = cortex-m7
+USE_FPU = hard
+USE_FPU_OPT = -mfloat-abi=$(USE_FPU) -mfpu=fpv5-d16
 LDSCRIPT = $(PROJECT_DIR)/hw_layer/ports/stm32/stm32h7/STM32H743xI.ld
 ALLCSRC += $(CHIBIOS)/os/hal/boards/ST_NUCLEO144_H743ZI/board.c
 CONFDIR = $(PROJECT_DIR)/hw_layer/ports/stm32/stm32h7/cfg