Motivation

• Currently on armv7m, the non-preemptive context-switching code does not save FPU state, however the preemptive context-switching code requires an architecture that has an FPU to compile at all.
• It would be better to fully support devices with/without an FPU on all variants.

Goals

• Add FPU support to non-preemptive variants, add ability to remove FPU support on preemptive variants.