Change optimize -Os to -O2 #3363
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This PR changes the optimize for size to default -O2 optimization, as discussed in #3343.
The changes also propagate the -Wextra and -Werror flags from CFLAGS into EXTRA_CFLAGS so that real-time components get compiled with these flags if they are present in CFLAGS (code prepared to compile cleanly in merged PRs #3344 and #3345).