The GCC wiki page on Software floating point in GCC describes three different soft FP libraries used by GCC and glibc. Unfortunately the page seems quite dated (last updated in 2008). While it explicitly refers to several processor architectures, it doesn't mention ARM at all.
If anyone really needs kernel emulation of the floating point instructions, e.g. in order to run binaries compiled for hardfp, perhaps one of those might be suitable?
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