vfpv4 vs fpv4-sp-d16 for Embedded MotionDriver 6.1

The readme in the Embedded MotionDriver 6.1 documentation states the CM4 target is compiled with fpu=vfpv4. However, the CM4 has a "Single precision floating point unit". As I understand, this means vfpv4-sp (which has two variant fpv4-sp-d16 and fpv4-sp-s32). When I compile CM4 programs I use fpu=fpv4-sp-d16 with gcc 4.7.4 and it works (fpv4-sp-s32 should work too, but I haven't tried it).

Does anyone know if the fpu=vfpv4 switch works on the CM4? Has anyone linked to the 6.1 driver on a CM4 platform? Or can someone educate me on what I am missing?

I know from experience that if you use the wrong fpu option the processor will throw hard faults at you.

Thanks!
Tyler