main: strip debug information at link time instead of at compile time

Stripping debug information at link time also allows relocation
compression (aka linker relaxations). Keeping debug information at
compile time and optionally stripping it at link time has some
advantages:

  * Automatic stack sizes on Cortex-M rely on the presence of debug
    information.
  * Some parts of the compiler now rely on the presence of debug
    information for proper diagnostics.
  * It works better with the cache: there is no distinction between
    debug and no-debug builds.
  * It makes it easier (or possible at all) to enable debug information
    in the wasi-libc library without big downsides.

compileopts/config.go

@@ -209,9 +209,8 @@ func (c *Config) CFlags() []string {
 		cflags = append(cflags, "-nostdlibinc", "-Xclang", "-internal-isystem", "-Xclang", filepath.Join(root, "lib", "picolibc", "newlib", "libc", "include"))
 		cflags = append(cflags, "-I"+filepath.Join(root, "lib/picolibc-include"))
 	}
-	if c.Debug() {
-		cflags = append(cflags, "-g")
-	}
+	// Always emit debug information. It is optionally stripped at link time.
+	cflags = append(cflags, "-g")
 	return cflags
 }
 
@@ -250,8 +249,9 @@ func (c *Config) VerifyIR() bool {
 	return c.Options.VerifyIR
 }
 
-// Debug returns whether to add debug symbols to the IR, for debugging with GDB
-// and similar.
+// Debug returns whether debug (DWARF) information should be retained by the
+// linker. By default, debug information is retained but it can be removed with
+// the -no-debug flag.
 func (c *Config) Debug() bool {
 	return c.Options.Debug
 }