diff --git a/sys/arm/arm/swtch-v6.S b/sys/arm/arm/swtch-v6.S
--- a/sys/arm/arm/swtch-v6.S
+++ b/sys/arm/arm/swtch-v6.S
@@ -109,6 +109,10 @@
 	.word	PCPU_SIZE
 .Lblocked_lock:
 	.word	_C_LABEL(blocked_lock)
+#ifdef VFP
+.Lvfp_exists:
+	.word	_C_LABEL(vfp_exists)
+#endif
 
 ENTRY(cpu_context_switch)
 	DSB
@@ -169,7 +173,12 @@
 	mov	r11, r1			/* r11 = newtd */
 
 #ifdef VFP				/* This thread is dying, disable */
+	ldr	r9, .Lvfp_exists
+	ldr	r9, [r9]
+	cmp	r9, #0
+	beq	1f
 	bl	_C_LABEL(vfp_discard)	/* VFP without preserving state. */
+1:
 #endif
 	GET_PCPU(r8, r9)		/* r8 = current pcpu */
 	ldr	r4, [r8, #PC_CPUID]	/* r4 = current cpu id */
@@ -319,10 +328,15 @@
 
 
 #ifdef VFP
+	ldr	r0, .Lvfp_exists
+	ldr	r0, [r0]
+	cmp	r0, #0
+	beq	1f
 	ldr	r3, [r10, #(TD_PCB)]
 	mov	r1, r3
 	mov	r0, r10
 	bl	_C_LABEL(vfp_save_state)
+1:
 #endif
 
 	/*
diff --git a/sys/arm/arm/vfp.c b/sys/arm/arm/vfp.c
--- a/sys/arm/arm/vfp.c
+++ b/sys/arm/arm/vfp.c
@@ -139,6 +139,23 @@
 	coproc |= COPROC10 | COPROC11;
 	set_coprocessorACR(coproc);
 
+	/*
+	 * If the coprocessor access bits reset to 0 after the write, then
+	 * the coprocessor does not exist in the system
+	 */
+	coproc = get_coprocessorACR();
+	if ((coproc & COPROC10) == 0 || (coproc & COPROC11) == 0) {
+		/*
+		 * If either CP10 or CP11 were able to be enabled,
+		 * disable them, as we should not have one and not the other.
+		 */
+		if ((coproc & (COPROC10 | COPROC11)) != 0) {
+			coproc &= ~(COPROC10 | COPROC11);
+			set_coprocessorACR(coproc);
+		}
+		return;
+	}
+
 	fpsid = fmrx(fpsid);		/* read the vfp system id */
 
 	if (!(fpsid & VFPSID_HARDSOFT_IMP)) {