Cortex-R52+ and Cortex-M4 FPU name and version

Hello

I see to enable FPU option by compiler, some compiler uses fp and some compiler uses vfp. 

For example,

GCC compiler: -mfpu=fpv5-sp-d16 for R52+ and -mfpu=fpv4-sp-d16 for M4

GHS compiler: -fpu=vfpv4 for R52+ and -fpu=vfpv3_d16 for M4

What's difference between VFP and FP ?

What's the exact versions for R52+ and M4's FPU ?

BR, Grace