diff --git a/clang/include/clang/Basic/DiagnosticDriverKinds.td b/clang/include/clang/Basic/DiagnosticDriverKinds.td
--- a/clang/include/clang/Basic/DiagnosticDriverKinds.td
+++ b/clang/include/clang/Basic/DiagnosticDriverKinds.td
@@ -417,6 +417,8 @@
 def warn_drv_unsupported_float_abi_by_lib : Warning<
   "float ABI '%0' is not supported by current library">,
   InGroup<DiagGroup<"unsupported-abi">>;
+def warn_drv_no_floating_point_registers: Warning<
+  "'%0': selected processor lacks floating point registers">;
 def warn_ignoring_ftabstop_value : Warning<
   "ignoring invalid -ftabstop value '%0', using default value %1">;
 def warn_drv_overriding_flag_option : Warning<
diff --git a/clang/lib/Driver/ToolChains/Arch/ARM.cpp b/clang/lib/Driver/ToolChains/Arch/ARM.cpp
--- a/clang/lib/Driver/ToolChains/Arch/ARM.cpp
+++ b/clang/lib/Driver/ToolChains/Arch/ARM.cpp
@@ -144,6 +144,22 @@
         << A->getSpelling() << A->getValue();
 }
 
+// If -mfloat-abi=hard or -mhard-float are specified explicitly then check that
+// floating point registers are available on the target CPU.
+static void checkARMFloatABI(const Driver &D, const ArgList &Args,
+                             bool HasFPRegs) {
+  if (HasFPRegs)
+    return;
+  const Arg *A =
+      Args.getLastArg(options::OPT_msoft_float, options::OPT_mhard_float,
+                      options::OPT_mfloat_abi_EQ);
+  if (A && (A->getOption().matches(options::OPT_mhard_float) ||
+            (A->getOption().matches(options::OPT_mfloat_abi_EQ) &&
+             A->getValue() == StringRef("hard"))))
+    D.Diag(clang::diag::warn_drv_no_floating_point_registers)
+        << A->getAsString(Args);
+}
+
 bool arm::useAAPCSForMachO(const llvm::Triple &T) {
   // The backend is hardwired to assume AAPCS for M-class processors, ensure
   // the frontend matches that.
@@ -636,13 +652,15 @@
   // -march/-mcpu effectively disables the FPU (GCC ignores the -mfpu options in
   // this case). Note that the ABI can also be set implicitly by the target
   // selected.
+  bool HasFPRegs = true;
   if (ABI == arm::FloatABI::Soft) {
     llvm::ARM::getFPUFeatures(llvm::ARM::FK_NONE, Features);
 
     // Disable all features relating to hardware FP, not already disabled by the
     // above call.
-    Features.insert(Features.end(), {"-dotprod", "-fp16fml", "-bf16", "-mve",
-                                     "-mve.fp", "-fpregs"});
+    Features.insert(Features.end(),
+                    {"-dotprod", "-fp16fml", "-bf16", "-mve", "-mve.fp"});
+    HasFPRegs = false;
   } else if (FPUKind == llvm::ARM::FK_NONE ||
              ArchArgFPUKind == llvm::ARM::FK_NONE ||
              CPUArgFPUKind == llvm::ARM::FK_NONE) {
@@ -652,9 +670,10 @@
     // latter, is still supported.
     Features.insert(Features.end(),
                     {"-dotprod", "-fp16fml", "-bf16", "-mve.fp"});
-    if (!hasIntegerMVE(Features))
-      Features.emplace_back("-fpregs");
+    HasFPRegs = hasIntegerMVE(Features);
   }
+  if (!HasFPRegs)
+    Features.emplace_back("-fpregs");
 
   // En/disable crc code generation.
   if (Arg *A = Args.getLastArg(options::OPT_mcrc, options::OPT_mnocrc)) {
@@ -910,6 +929,8 @@
 
   if (Args.getLastArg(options::OPT_mno_bti_at_return_twice))
     Features.push_back("+no-bti-at-return-twice");
+
+  checkARMFloatABI(D, Args, HasFPRegs);
 }
 
 std::string arm::getARMArch(StringRef Arch, const llvm::Triple &Triple) {
diff --git a/clang/test/Driver/arm-no-float-regs.c b/clang/test/Driver/arm-no-float-regs.c
new file mode 100644
--- /dev/null
+++ b/clang/test/Driver/arm-no-float-regs.c
@@ -0,0 +1,23 @@
+// REQUIRES: arm-registered-target
+
+// Check that -mfloat-abi=hard gives a warning if FP registers aren't available.
+// RUN: %clang --target=arm-none-eabi -mcpu=cortex-m0 -mfloat-abi=hard -### -c %s 2>&1
+
+// RUN: %clang --target=arm-none-eabi -mcpu=cortex-m0 -mhard-float -### -c %s 2>&1 \
+// RUN:   | FileCheck -check-prefix=HARDFLOAT %s
+
+// -mfloat-abi=hard and -march=...+nofp are incompatible in this instance:
+// RUN: %clang --target=arm-none-eabi -march=armv8.1-m.main+nofp -mfloat-abi=hard -### -c %s 2>&1
+// -mfloat-abi=hard and -march=...+nofp are compatible in this instance:
+// RUN: %clang --target=arm-none-eabi -march=armv8.1-m.main+mve+nofp -mfloat-abi=hard -### -c %s 2>&1 \
+// RUN:   | FileCheck -check-prefix=NOWARN %s
+
+// Here the float ABI is calculated as "hard" and FP registers are
+// calculated to not be available. Since the float ABI wasn't specified
+// explicitly, the warning should not be emitted.
+// RUN: %clang -target thumbv5-windows -mcpu=arm10tdmi -### -c %s -o /dev/null 2>&1 \
+// RUN:   | FileCheck -check-prefix=NOWARN %s
+
+// CHECK: warning: '-mfloat-abi=hard': selected processor lacks floating point registers
+// HARDFLOAT: warning: '-mhard-float': selected processor lacks floating point registers
+// NOWARN-NOT: selected processor lacks floating point registers