diff --git a/firmware/Cargo.lock b/firmware/Cargo.lock
index e799114..61241a8 100644
--- a/firmware/Cargo.lock
+++ b/firmware/Cargo.lock
@@ -10,7 +10,7 @@ dependencies = [
 [[package]]
 name = "cortex-m"
 version = "0.2.4"
-source = "git+https://github.com/whitequark/cortex-m?rev=impl-syst#a9967c544da4ddc7575135ed522dffd21ec28c19"
+source = "git+https://github.com/whitequark/cortex-m?rev=fpu-cpacr#0e3dd2df58e52f9af80e47327a62a83511e010f9"
 dependencies = [
  "cortex-m-semihosting 0.1.3 (registry+https://github.com/rust-lang/crates.io-index)",
  "volatile-register 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
@@ -20,7 +20,7 @@ dependencies = [
 name = "cortex-m"
 version = "0.2.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-replace = "cortex-m 0.2.4 (git+https://github.com/whitequark/cortex-m?rev=impl-syst)"
+replace = "cortex-m 0.2.4 (git+https://github.com/whitequark/cortex-m?rev=fpu-cpacr)"
 
 [[package]]
 name = "cortex-m-rt"
@@ -63,7 +63,7 @@ dependencies = [
 ]
 
 [metadata]
-"checksum cortex-m 0.2.4 (git+https://github.com/whitequark/cortex-m?rev=impl-syst)" = "<none>"
+"checksum cortex-m 0.2.4 (git+https://github.com/whitequark/cortex-m?rev=fpu-cpacr)" = "<none>"
 "checksum cortex-m 0.2.4 (registry+https://github.com/rust-lang/crates.io-index)" = "964f183322128497a636a5d4524dfe91fa1394a15b7b2c4329ee5bb66bef1548"
 "checksum cortex-m-rt 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "2ed494cbd15190fae60f608e6b4690e753df47b5f5e25e95d3c298f801f5c1d0"
 "checksum cortex-m-semihosting 0.1.3 (registry+https://github.com/rust-lang/crates.io-index)" = "54a88e8fd577808637f819107f34eece1b6b45be8db1c56d1c563095b80b655e"
diff --git a/firmware/Cargo.toml b/firmware/Cargo.toml
index 89d4a50..25984d5 100644
--- a/firmware/Cargo.toml
+++ b/firmware/Cargo.toml
@@ -13,4 +13,4 @@ lto = true
 debug = true
 
 [replace]
-"cortex-m:0.2.4" = { git = "https://github.com/whitequark/cortex-m", rev = "impl-syst" }
+"cortex-m:0.2.4" = { git = "https://github.com/whitequark/cortex-m", rev = "fpu-cpacr" }
diff --git a/firmware/src/main.rs b/firmware/src/main.rs
index 5859cab..887eab1 100644
--- a/firmware/src/main.rs
+++ b/firmware/src/main.rs
@@ -126,6 +126,10 @@ fn main() {
         let sysctl = tm4c129x::SYSCTL.borrow(cs);
         let nvic = tm4c129x::NVIC.borrow(cs);
 
+        // Enable FPU
+        let scb = tm4c129x::SCB.borrow(cs);
+        scb.enable_fpu();
+
         // Set up main oscillator
         sysctl.moscctl.write(|w| w.noxtal().bit(false));
         sysctl.moscctl.modify(|_, w| w.pwrdn().bit(false).oscrng().bit(true));