Okay I have installed the Linaro toolchain but I'm still getting an error message. It seems, that there is something wrong with one of the files included by the arm-none-eabi-gcc compiler that was shipped with Linaro:
make all
arm-none-eabi-gcc -mcpu=cortex-m4 -mthumb -mlittle-endian -mfpu=fpv4-sp-d16 -mfloat-abi=hard -mthumb-interwork -Os -DUSE_STDPERIPH_DRIVER -DSTM32F4XX -DMANGUSTA_DISCOVERY -DUSE_USB_OTG_FS -DHSE_VALUE=8000000 -I./ -I./ -I../../Utilities/STM32F4-Discovery -I../../Libraries/CMSIS/ST/STM32F4xx/Include/ -I../../Libraries/CMSIS/Include/ -I../../Libraries/STM32F4xx_StdPeriph_Driver/inc/ -I../../Libraries/STM32_USB_Device_Library/Class/hid/inc -I../../Libraries/STM32_USB_Device_Library/Core/inc/ -I../../Libraries/STM32_USB_OTG_Driver/inc/ -Wl,-T,stm32_flash.ld main.c stm32f4xx_it.c system_stm32f4xx.c ../../Utilities/STM32F4-Discovery/stm32f4_discovery.c ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_syscfg.c ../../Libraries/STM32F4xx_StdPeriph_Driver/src/misc.c ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c ../../Libraries/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_exti.c startup_stm32f4xx.S -o demo.elf
/opt/arm-none-eabi-gcc-4_6/bin/../lib/gcc/arm-none-eabi/4.6.2/../../../../arm-none-eabi/lib/armv7e-m/fpu/libc.a(lib_a-exit.o): In function `exit':
exit.c:(.text+0x16): undefined reference to `_exit'
collect2: ld returned 1 exit status
make: *** [demo.elf] Error 1
According to arm-none-eabi-gcc this version does support HWFP.
Thanks for the tip with Linaro though!
If you are using an stm32_flash.ld file as your load file, and you are using a .text section that looks like the one below, then this problem can most likely be resolved by adding an _exit line to the .text section (see the example below).
_exit = .;
/* The program code and other data goes into FLASH */
.text :
{
. = ALIGN(4);
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
*(.glue_7) /* glue arm to thumb code */
*(.glue_7t) /* glue thumb to arm code */
*(.eh_frame)
KEEP (*(.init))
KEEP (*(.fini))
. = ALIGN(4);
_etext = .; /* define a global symbols at end of code */
_exit = .;
} >FLASH