use -Og for debugging

Currently we use -O0 (no optimization) for debug builds. Unfortunately
this leads to large firmwares really quickly, and prevents debugging
in TCM/OCRAM. Use -Og which enables some optimization which do not
interfere with debugging. GCC manual says:
  Optimize debugging experience. -Og enables optimizations that do not
  interfere with debugging. It should be the optimization level of choice
  for the standard edit-compile-debug cycle, offering a reasonable level
  of optimization while maintaining fast compilation and a good debugging
  experience.

Signed-off-by: Stefan Agner <stefan.agner@toradex.com>

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