diff --git a/riscv-rt/CHANGELOG.md b/riscv-rt/CHANGELOG.md
index 99175de4..ecbb8a5d 100644
--- a/riscv-rt/CHANGELOG.md
+++ b/riscv-rt/CHANGELOG.md
@@ -9,6 +9,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 ### Added
 
+- Add FPU initialization
 - Static array for vectored-like handling of exceptions
 - New GitHub workflow for checking invalid labels in PRs
 - New GitHub workflow for checking modifications on CHANGELOG.md
diff --git a/riscv-rt/build.rs b/riscv-rt/build.rs
index 3fbbd397..b0302bb6 100644
--- a/riscv-rt/build.rs
+++ b/riscv-rt/build.rs
@@ -18,7 +18,7 @@ fn add_linker_script(arch_width: u32) -> io::Result<()> {
 }
 
 /// Parse the target RISC-V architecture and returns its bit width and the extension set
-fn parse_target(target: &str) -> (u32, HashSet<char>) {
+fn parse_target(target: &str, cargo_flags: &str) -> (u32, HashSet<char>) {
     // isolate bit width and extensions from the rest of the target information
     let arch = target
         .trim_start_matches("riscv")
@@ -43,18 +43,46 @@ fn parse_target(target: &str) -> (u32, HashSet<char>) {
         extensions.insert('d');
     }
 
+    let cargo_flags = cargo_flags
+        .split(0x1fu8 as char)
+        .filter(|arg| !arg.is_empty());
+
+    cargo_flags
+        .filter(|k| k.starts_with("target-feature="))
+        .flat_map(|str| {
+            let flags = str.split('=').collect::<Vec<&str>>()[1];
+            flags.split(',')
+        })
+        .for_each(|feature| {
+            let chars = feature.chars().collect::<Vec<char>>();
+            match chars[0] {
+                '+' => {
+                    extensions.insert(chars[1]);
+                }
+                '-' => {
+                    extensions.remove(&chars[1]);
+                }
+                _ => {
+                    panic!("Unsupported target feature operation");
+                }
+            }
+        });
+
     (bits, extensions)
 }
 
 fn main() {
     let target = env::var("TARGET").unwrap();
+    let cargo_flags = env::var("CARGO_ENCODED_RUSTFLAGS").unwrap();
     let _name = env::var("CARGO_PKG_NAME").unwrap();
 
     // set configuration flags depending on the target
     if target.starts_with("riscv") {
         println!("cargo:rustc-cfg=riscv");
 
-        let (bits, extensions) = parse_target(&target);
+        // This is required until target_arch & target_feature risc-v work is
+        // stable and in-use (rust 1.75.0)
+        let (bits, extensions) = parse_target(&target, &cargo_flags);
 
         // generate the linker script and expose the ISA width
         let arch_width = match bits {
diff --git a/riscv-rt/macros/src/lib.rs b/riscv-rt/macros/src/lib.rs
index f63d8ceb..b48cc111 100644
--- a/riscv-rt/macros/src/lib.rs
+++ b/riscv-rt/macros/src/lib.rs
@@ -9,7 +9,11 @@ extern crate proc_macro2;
 extern crate syn;
 
 use proc_macro2::Span;
-use syn::{parse, spanned::Spanned, FnArg, ItemFn, PathArguments, ReturnType, Type, Visibility};
+use syn::{
+    parse::{self, Parse},
+    spanned::Spanned,
+    FnArg, ItemFn, LitInt, LitStr, PathArguments, ReturnType, Type, Visibility,
+};
 
 use proc_macro::TokenStream;
 
@@ -205,3 +209,55 @@ pub fn pre_init(args: TokenStream, input: TokenStream) -> TokenStream {
     )
     .into()
 }
+
+struct AsmLoopArgs {
+    asm_template: String,
+    count: usize,
+}
+
+impl Parse for AsmLoopArgs {
+    fn parse(input: syn::parse::ParseStream) -> syn::Result<Self> {
+        let template: LitStr = input.parse().unwrap();
+        _ = input.parse::<Token![,]>().unwrap();
+        let count: LitInt = input.parse().unwrap();
+
+        Ok(Self {
+            asm_template: template.value(),
+            count: count.base10_parse().unwrap(),
+        })
+    }
+}
+
+/// Loops an asm expression n times.
+///
+/// `loop_asm!` takes 2 arguments, the first is a string literal and the second is a number literal
+/// See [the formatting syntax documentation in `std::fmt`](../std/fmt/index.html)
+/// for details.
+///
+/// Argument 1 is an assembly expression, all "{}" in this assembly expression will be replaced with the
+/// current loop index.
+///
+/// Argument 2 is the number of loops to do with the provided expression.
+///
+/// # Examples
+///
+/// ```
+/// # use riscv_rt_macros::loop_asm;
+/// unsafe {
+///     loop_asm!("fmv.w.x f{}, x0", 32); // => core::arch::asm!("fmv.w.x f0, x0") ... core::arch::asm!("fmv.w.x f31, x0")
+/// }
+/// ```
+#[proc_macro]
+pub fn loop_asm(input: TokenStream) -> TokenStream {
+    let args = parse_macro_input!(input as AsmLoopArgs);
+
+    let tokens = (0..args.count)
+        .map(|i| {
+            let i = i.to_string();
+            let asm = args.asm_template.replace("{}", &i);
+            format!("core::arch::asm!(\"{}\");", asm)
+        })
+        .collect::<Vec<String>>()
+        .join("\n");
+    tokens.parse().unwrap()
+}
diff --git a/riscv-rt/src/lib.rs b/riscv-rt/src/lib.rs
index 6e4ba835..a7a900eb 100644
--- a/riscv-rt/src/lib.rs
+++ b/riscv-rt/src/lib.rs
@@ -415,6 +415,12 @@ use riscv::register::{mcause as xcause, mtvec as xtvec, mtvec::TrapMode as xTrap
 #[cfg(all(not(feature = "single-hart"), not(feature = "s-mode")))]
 use riscv::register::mhartid;
 
+#[cfg(all(feature = "s-mode", any(riscvf, riscvd)))]
+use riscv::register::sstatus as xstatus;
+
+#[cfg(all(not(feature = "s-mode"), any(riscvf, riscvd)))]
+use riscv::register::mstatus as xstatus;
+
 pub use riscv_rt_macros::{entry, pre_init};
 
 #[export_name = "error: riscv-rt appears more than once in the dependency graph"]
@@ -550,7 +556,21 @@ pub unsafe extern "C" fn start_rust(a0: usize, a1: usize, a2: usize) -> ! {
         compiler_fence(Ordering::SeqCst);
     }
 
-    // TODO: Enable FPU when available
+    #[cfg(any(riscvf, riscvd))]
+    {
+        xstatus::set_fs(xstatus::FS::Initial); // Enable fpu in xstatus
+        core::arch::asm!("fscsr x0"); // Zero out fcsr register csrrw x0, fcsr, x0
+
+        // Zero out floating point registers
+        #[cfg(all(target_arch = "riscv32", riscvd))]
+        riscv_rt_macros::loop_asm!("fcvt.d.w f{}, x0", 32);
+
+        #[cfg(all(target_arch = "riscv64", riscvd))]
+        riscv_rt_macros::loop_asm!("fmv.d.x f{}, x0", 32);
+
+        #[cfg(not(riscvd))]
+        riscv_rt_macros::loop_asm!("fmv.w.x f{}, x0", 32);
+    }
 
     _setup_interrupts();