diff --git a/components/esp32/linker.lf b/components/esp32/linker.lf
index b7bb89f6e6..db73d2dc9f 100644
--- a/components/esp32/linker.lf
+++ b/components/esp32/linker.lf
@@ -7,6 +7,7 @@ entries:
 archive: libgcc.a
 entries:
     lib2funcs (noflash_text)
+    _divsf3 (noflash)
 
 [mapping:gcov]
 archive: libgcov.a
diff --git a/components/esp32/test/test_fp.c b/components/esp32/test/test_fp.c
index 180999f9bc..c9454107a6 100644
--- a/components/esp32/test/test_fp.c
+++ b/components/esp32/test/test_fp.c
@@ -1,8 +1,14 @@
 #include <math.h>
 #include <stdio.h>
+#include "soc/cpu.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "unity.h"
+#include "test_utils.h"
+
+/* Note: these functions are included here for unit test purposes. They are not needed for writing
+ * normal code. If writing standard C floating point code, libgcc should correctly include implementations
+ * that use the floating point registers correctly. */
 
 static float addsf(float a, float b)
 {
@@ -48,7 +54,7 @@ static float divsf(float a, float b)
         "const.s f2, 0 \n"
         "neg.s f9, f8 \n"
         "maddn.s f5,f4,f6 \n"
-        "maddn.s f2, f0, f3 \n"
+        "maddn.s f2, f9, f3 \n"
         "mkdadj.s f7, f0 \n"
         "maddn.s f6,f5,f6 \n"
         "maddn.s f9,f4,f2 \n"
@@ -191,3 +197,70 @@ TEST_CASE("context switch saves FP registers", "[fp]")
     }
     TEST_ASSERT(state.fail == 0);
 }
+
+/* Note: not static, to avoid optimisation of const result */
+float IRAM_ATTR test_fp_benchmark_fp_divide(int counts, unsigned *cycles)
+{
+    float f = MAXFLOAT;
+    uint32_t before, after;
+    RSR(CCOUNT, before);
+
+    for (int i = 0; i < counts; i++) {
+        f /= 1.000432f;
+    }
+
+    RSR(CCOUNT, after);
+    *cycles = (after - before) / counts;
+
+    return f;
+}
+
+TEST_CASE("floating point division performance", "[fp]")
+{
+    const unsigned COUNTS = 1000;
+    unsigned cycles = 0;
+
+    // initialize fpu
+    volatile __attribute__((unused)) float dummy = sqrtf(rand());
+
+    float f = test_fp_benchmark_fp_divide(COUNTS, &cycles);
+
+    printf("%d divisions from %f = %f\n", COUNTS, MAXFLOAT, f);
+    printf("Per division = %d cycles\n", cycles);
+
+    TEST_PERFORMANCE_LESS_THAN(ESP32_CYCLES_PER_DIV, "%d cycles", cycles);
+}
+
+/* Note: not static, to avoid optimisation of const result */
+float IRAM_ATTR test_fp_benchmark_fp_sqrt(int counts, unsigned *cycles)
+{
+    float f = MAXFLOAT;
+    uint32_t before, after;
+    RSR(CCOUNT, before);
+
+    for (int i = 0; i < counts; i++) {
+        f = sqrtf(f);
+    }
+
+    RSR(CCOUNT, after);
+    *cycles = (after - before) / counts;
+
+    return f;
+}
+
+TEST_CASE("floating point square root performance", "[fp]")
+{
+    const unsigned COUNTS = 200;
+    unsigned cycles = 0;
+
+    // initialize fpu
+    volatile float __attribute__((unused)) dummy = sqrtf(rand());
+
+    float f = test_fp_benchmark_fp_sqrt(COUNTS, &cycles);
+
+    printf("%d square roots from %f = %f\n", COUNTS, MAXFLOAT, f);
+    printf("Per sqrt = %d cycles\n", cycles);
+
+    TEST_PERFORMANCE_LESS_THAN(ESP32_CYCLES_PER_SQRT, "%d cycles", cycles);
+}
+
diff --git a/components/esp_rom/esp32/ld/esp32.rom.libgcc.ld b/components/esp_rom/esp32/ld/esp32.rom.libgcc.ld
index dfdbe25881..0bda115dc6 100644
--- a/components/esp_rom/esp32/ld/esp32.rom.libgcc.ld
+++ b/components/esp_rom/esp32/ld/esp32.rom.libgcc.ld
@@ -24,8 +24,6 @@ __ctzsi2 = 0x4000c7f0;
 __divdc3 = 0x400645a4;
 __divdf3 = 0x40002954;
 __divdi3 = 0x4000ca84;
-__divsc3 = 0x4006429c;
-__divsf3 = 0x4000234c;
 __divsi3 = 0x4000c7b8;
 __eqdf2 = 0x400636a8;
 __eqsf2 = 0x40063374;
@@ -62,7 +60,6 @@ __modsi3 = 0x4000c7c0;
 __muldc3 = 0x40063c90;
 __muldf3 = 0x4006358c;
 __muldi3 = 0x4000c9fc;
-__mulsc3 = 0x40063944;
 __mulsf3 = 0x400632c8;
 __mulsi3 = 0x4000c7b0;
 __mulvdi3 = 0x40002d78;
@@ -80,7 +77,6 @@ __popcount_tab = 0x3ff96544;
 __popcountdi2 = 0x40002ef8;
 __popcountsi2 = 0x40002ed0;
 __powidf2 = 0x400638e4;
-__powisf2 = 0x4006389c;
 __subdf3 = 0x400026e4;
 __subsf3 = 0x400021d0;
 __subvdi3 = 0x40002d20;
diff --git a/components/idf_test/include/idf_performance.h b/components/idf_test/include/idf_performance.h
index 55809e90ae..6cdb288236 100644
--- a/components/idf_test/include/idf_performance.h
+++ b/components/idf_test/include/idf_performance.h
@@ -27,4 +27,7 @@
 #define IDF_PERFORMANCE_MAX_ESP32_TIME_SHA512_32KB                              4500
 // AES-CBC hardware throughput (accounts for worst-case performance with PSRAM workaround)
 #define IDF_PERFORMANCE_MIN_AES_CBC_THROUGHPUT_MBSEC                            8.5
+// floating point instructions per divide and per sqrt (configured for worst-case with PSRAM workaround)
+#define IDF_PERFORMANCE_MAX_ESP32_CYCLES_PER_DIV 70
+#define IDF_PERFORMANCE_MAX_ESP32_CYCLES_PER_SQRT 140