Floating point instructions on s32k146 processor

[KelvinSmith]

We have code running on the the s32k1SIC evaluation board, which uses the s32k146 processor. The code is bogging down in floating point math, and looking at the disassembled code, I see that it is not using floating point instructions. Looking at the manual for the processor, I see that the s32k14x processors have a math coprocessor. I tried writing a vadd instruction, and when it compiles, it tells me that I can't use floating point instructions in thumb mode. So I put in a .arm directing to generate regular arm instructions, and it tells me that I can't do that on a thumb-only processor. How can I use the floating point instructions?

[KILLERzheng]

I solve this problem by adding the dir info below, for reference only.

[Robin_Shen]

Hi 

Did your project enable the hardware FPU?

Best Regards,
Robin
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[KelvinSmith]

Thanks Robin,

I looked for a setting like that and couldn't find it. But there must still be some setting because now when I build, during the link I get errors like this for each file:

c:/nxp/s32ds.3.4/s32ds/build_tools/gcc_b1620/gcc-6.3-arm32-eabi/bin/../lib/gcc/arm-none-eabi/6.3.1/../../../../arm-none-eabi/bin/real-ld.exe: error: libuavcanV1_demo.elf uses VFP register arguments, ./Project_Settings/Startup_Code/system_S32K146.o does not
c:/nxp/s32ds.3.4/s32ds/build_tools/gcc_b1620/gcc-6.3-arm32-eabi/bin/../lib/gcc/arm-none-eabi/6.3.1/../../../../arm-none-eabi/bin/real-ld.exe: failed to merge target specific data of file ./Project_Settings/Startup_Code/system_S32K146.o

[Robin_Shen]

Sorry. I don't understand what do you mean: I looked for a setting like that and couldn't find it. 
What IDE are you using? If you are using S32DS, then you can select Hardware FPU during create new S32DS Project too.

[KelvinSmith]

Robin, I see that what I said was ambiguous. I did find the option (as you described) and I selected it, matching the images above. But when I compile, at the link stage, I get the errors I listed above.