In AXD the VFP registers can be viewed by right clicking in the register pane and selecting "Add register…". The dialogue shown below opens allowing the desired registers to be selected and added to the register pane.

Figure 4. 

When using Multi-ICE the VFP registers occasionally may not be shown in the "Add Register" pane. To rectify this navigate to:

Options → Configure Target

Select the Multi-ICE entry and press "Configure".

The Multi-ICE configuration dialogue which appears (shown below) has a "Boards" tab where the relevant coprocessor can be selected.

Figure 5.