I am currently using the the GNU toolchain provided by YAGARTO (win arm gcc 4.1.1) for imx31 target. Find below the exception I recieved when the program was loaded with LoLo (load and run).
This problem was encontered when using fpu (-mfpu=vfp -mfloat-abi=softfp). Any ideas on this?

Unhandled Exception:
exception mode: undef
r00: 00000000 r01: 800543d8 r02: 000059f8 r03: 00005088
r04: 8005cd34 r05: 00000000 r06: 8005cd34 r07: 00000000
r08: 800349ac r09: 00000000 r10: 8005c854 r11: 8005c844
r12: 8005c830 sp: 8005c82c lr: 8000c6ac pc: 80100004
spsr:00000153 cpsr:000001db
bt: sp: 8005c778 (stack: 80058cbc - 8005ccbc)
0: fp:8005c7a0 + 40 80000804() called from: 800034f8
1: fp:8005c7b8 + 20 800034b4() called from: 80000b0c
2: fp:8005c7cc + 16 80000964() called from: 8000156c
3: fp:8005c7e0 + 16 8000154c() called from: 800006fc
4: fp:8005c844 + 96 8000c618() called from: 800061fc
5: fp:8005c8c4 + 124 80005f18() called from: 80007060
6: fp:8005c900 + 56 80006f64() called from: 80005974
7: fp:8005c924 + 32 80005944() called from: 8002d9d8
8: fp:8005cc5c + 820 8002d5d4() called from: 80005bd4
9: fp:8005cc84 + 36 80005a18() called from: 80005e60
10: fp:8005cca0 + 24 80005d14() called from: 80003d8c
11: fp:8005ccb8 + 20 80003d60() called from: 80003d60
(fp:8005ccb8->8005c760, sp:8005ccbc)

-- disassebled code --
int main (void)
{
80004000: e52de004 str lr, [sp, #-4]!
80004004: ed2d8b05 fstmdbx sp!, {d8-d9}
80004008: ed9f8b0c fldd d8, [pc, #48]
8000400c: ed9f9b0d fldd d9, [pc, #52]
double P1;
double P2;
P1=12323123.213;
while(1)
{
led_on(LED1);
80004010: e3a00080 mov r0, #128 ; 0x80
80004014: eb000013 bl 80004068 <led_on>
P2=sqrt(P1);
80004018: eeb17bc8 fsqrtd d7, d8
8000401c: ec510b18 fmrrd r0, r1, d8
P1=P1+10.123;
80004020: ee388b09 faddd d8, d8, d9
80004024: eeb47b47 fcmpd d7, d7
80004028: eef1fa10 fmstat
8000402c: 0a000000 beq 80004034 <main+0x34>
80004030: eb00003c bl 80004128 <sqrt>
led_off(LED1);
80004034: e3a00080 mov r0, #128 ; 0x80
80004038: eb000004 bl 80004050 <led_off>
8000403c: eafffff3 b 80004010 <main+0x10>
80004040: 66d0e560 ldrvsb lr, [r0], r0, ror #10
80004044: 41678126 cmnmi r7, r6, lsr #2
80004048: db22d0e5 blle 808b83e4 <_edata+0x8b3140>
8000404c: 40243ef9 strmid r3, [r4], -r9