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Based on ARM documents there is no exception ID for FPU (CortexA9) and just FPU instructions set exception flags in Floating-Point Status and Control Register (FPSCR). Is there a way to use these flags to raise an exception in the processor?
Not on the A9 as it implements VFPv3 which has a trapless exception model. There is a variant VPF3U that does support generating Arm exceptions based on FP exceptions but this is not available on A9.
FPSCR[15, 12:8] would usually control this behavior but these bits are UNK/SBZP in A9.