diff --git a/Kconfig b/Kconfig
index e0c25e23ed..4a79672630 100644
--- a/Kconfig
+++ b/Kconfig
@@ -1919,6 +1919,14 @@ config DEBUG_SYMBOLS
 	---help---
 		Build with debug symbols (needed for use with a debugger).
 
+config FRAME_POINTER
+	bool "Compile the NuttX with frame pointers"
+	default n
+	---help---
+		If you say Y here the resulting NuttX image will be slightly
+		larger and slower, but it gives very useful debugging information
+		in case of bugs.
+
 endmenu # Debug Options
 
 config ARCH_HAVE_CUSTOMOPT
diff --git a/arch/arm/src/arm/Toolchain.defs b/arch/arm/src/arm/Toolchain.defs
index 4d2bf17ef5..251a7b0bd4 100644
--- a/arch/arm/src/arm/Toolchain.defs
+++ b/arch/arm/src/arm/Toolchain.defs
@@ -67,6 +67,12 @@ else
   MAXOPTIMIZATION ?= -Os
 endif
 
+ifeq ($(CONFIG_FRAME_POINTER),y)
+  MAXOPTIMIZATION += -fno-omit-frame-pointer -fno-optimize-sibling-calls
+else
+  MAXOPTIMIZATION += -fomit-frame-pointer
+endif
+
 # NuttX buildroot under Linux or Cygwin
 
 ifeq ($(CONFIG_ARM_TOOLCHAIN),BUILDROOT)
diff --git a/arch/arm/src/armv6-m/Toolchain.defs b/arch/arm/src/armv6-m/Toolchain.defs
index 4880564271..7cd8874a3b 100644
--- a/arch/arm/src/armv6-m/Toolchain.defs
+++ b/arch/arm/src/armv6-m/Toolchain.defs
@@ -61,6 +61,12 @@ else
   MAXOPTIMIZATION ?= -Os
 endif
 
+ifeq ($(CONFIG_FRAME_POINTER),y)
+  MAXOPTIMIZATION += -fno-omit-frame-pointer -fno-optimize-sibling-calls
+else
+  MAXOPTIMIZATION += -fomit-frame-pointer
+endif
+
 # NuttX buildroot under Linux or Cygwin
 
 ifeq ($(CONFIG_ARMV6M_TOOLCHAIN),BUILDROOT)
diff --git a/arch/arm/src/armv7-a/Toolchain.defs b/arch/arm/src/armv7-a/Toolchain.defs
index ced1d0d10b..215d6469fc 100644
--- a/arch/arm/src/armv7-a/Toolchain.defs
+++ b/arch/arm/src/armv7-a/Toolchain.defs
@@ -79,6 +79,12 @@ else
   MAXOPTIMIZATION ?= -Os
 endif
 
+ifeq ($(CONFIG_FRAME_POINTER),y)
+  MAXOPTIMIZATION += -fno-omit-frame-pointer -fno-optimize-sibling-calls
+else
+  MAXOPTIMIZATION += -fomit-frame-pointer
+endif
+
 ifeq ($(CONFIG_ENDIAN_BIG),y)
   TARGET_ARCH := armeb
 else
diff --git a/arch/arm/src/armv7-m/Toolchain.defs b/arch/arm/src/armv7-m/Toolchain.defs
index 58b52073df..b63e6dd279 100644
--- a/arch/arm/src/armv7-m/Toolchain.defs
+++ b/arch/arm/src/armv7-m/Toolchain.defs
@@ -75,6 +75,12 @@ else
   MAXOPTIMIZATION ?= -Os
 endif
 
+ifeq ($(CONFIG_FRAME_POINTER),y)
+  MAXOPTIMIZATION += -fno-omit-frame-pointer -fno-optimize-sibling-calls
+else
+  MAXOPTIMIZATION += -fomit-frame-pointer
+endif
+
 # Parametrization for ARCHCPUFLAGS
 
 ifeq ($(CONFIG_ARCH_CORTEXM4),y)
diff --git a/arch/arm/src/armv7-r/Toolchain.defs b/arch/arm/src/armv7-r/Toolchain.defs
index 4af6d187fa..d0df68d58f 100644
--- a/arch/arm/src/armv7-r/Toolchain.defs
+++ b/arch/arm/src/armv7-r/Toolchain.defs
@@ -61,6 +61,12 @@ else
   MAXOPTIMIZATION ?= -Os
 endif
 
+ifeq ($(CONFIG_FRAME_POINTER),y)
+  MAXOPTIMIZATION += -fno-omit-frame-pointer -fno-optimize-sibling-calls
+else
+  MAXOPTIMIZATION += -fomit-frame-pointer
+endif
+
 ifeq ($(CONFIG_ENDIAN_BIG),y)
   TARGET_ARCH := armeb
 else
diff --git a/arch/arm/src/armv8-m/Toolchain.defs b/arch/arm/src/armv8-m/Toolchain.defs
index aa0df4ff65..58df2f5509 100644
--- a/arch/arm/src/armv8-m/Toolchain.defs
+++ b/arch/arm/src/armv8-m/Toolchain.defs
@@ -75,6 +75,12 @@ else
   MAXOPTIMIZATION ?= -Os
 endif
 
+ifeq ($(CONFIG_FRAME_POINTER),y)
+  MAXOPTIMIZATION += -fno-omit-frame-pointer -fno-optimize-sibling-calls
+else
+  MAXOPTIMIZATION += -fomit-frame-pointer
+endif
+
 # Parametrization for ARCHCPUFLAGS
 ifeq ($(CONFIG_ARCH_CORTEXM23),y)
   TOOLCHAIN_MTUNE    := -mtune=cortex-m23
diff --git a/arch/arm/src/rtl8720c/Toolchain.defs b/arch/arm/src/rtl8720c/Toolchain.defs
index 9be75a7644..0c8bba6169 100644
--- a/arch/arm/src/rtl8720c/Toolchain.defs
+++ b/arch/arm/src/rtl8720c/Toolchain.defs
@@ -43,7 +43,7 @@ ifeq ($(CONFIG_STACK_CANARIES),y)
 endif
 
 ifneq ($(CONFIG_DEBUG_NOOPT),y)
-  ARCHOPTIMIZATION += $(MAXOPTIMIZATION) -fno-strict-aliasing -fno-strength-reduce -fomit-frame-pointer
+  ARCHOPTIMIZATION += $(MAXOPTIMIZATION) -fno-strict-aliasing -fno-strength-reduce
   ARCHOPTIMIZATION += -ffunction-sections -fdata-sections
 ifneq ($(CONFIG_ARMV8M_STACKCHECK),y)
   #ARCHOPTIMIZATION += -flto -fuse-linker-plugin
diff --git a/arch/mips/src/mips32/Toolchain.defs b/arch/mips/src/mips32/Toolchain.defs
index c148e572f0..5512d2bcc2 100644
--- a/arch/mips/src/mips32/Toolchain.defs
+++ b/arch/mips/src/mips32/Toolchain.defs
@@ -259,6 +259,12 @@ ifeq ($(CONFIG_MIPS32_TOOLCHAIN),PINGUINOW)
   LDSCRIPT = mips-elf-debug.ld
 endif
 
+ifeq ($(CONFIG_FRAME_POINTER),y)
+  MAXOPTIMIZATION += -fno-omit-frame-pointer -fno-optimize-sibling-calls
+else
+  MAXOPTIMIZATION += -fomit-frame-pointer
+endif
+
 # Default toolchain
 
 CC = $(CROSSDEV)gcc
diff --git a/arch/risc-v/src/rv32im/Toolchain.defs b/arch/risc-v/src/rv32im/Toolchain.defs
index 9283a55f48..d3d628d524 100644
--- a/arch/risc-v/src/rv32im/Toolchain.defs
+++ b/arch/risc-v/src/rv32im/Toolchain.defs
@@ -53,6 +53,12 @@ else
   MAXOPTIMIZATION ?= -Os
 endif
 
+ifeq ($(CONFIG_FRAME_POINTER),y)
+  MAXOPTIMIZATION += -fno-omit-frame-pointer -fno-optimize-sibling-calls
+else
+  MAXOPTIMIZATION += -fomit-frame-pointer
+endif
+
 # Generic GNU RVG toolchain
 
 ifeq ($(CONFIG_RISCV_TOOLCHAIN),GNU_RVG)
diff --git a/arch/risc-v/src/rv64gc/Toolchain.defs b/arch/risc-v/src/rv64gc/Toolchain.defs
index 07e659a103..4217ec3354 100644
--- a/arch/risc-v/src/rv64gc/Toolchain.defs
+++ b/arch/risc-v/src/rv64gc/Toolchain.defs
@@ -53,6 +53,12 @@ else
   MAXOPTIMIZATION ?= -Os
 endif
 
+ifeq ($(CONFIG_FRAME_POINTER),y)
+  MAXOPTIMIZATION += -fno-omit-frame-pointer -fno-optimize-sibling-calls
+else
+  MAXOPTIMIZATION += -fomit-frame-pointer
+endif
+
 # Generic GNU RVG toolchain
 
 ifeq ($(CONFIG_RISCV_TOOLCHAIN),GNU_RVG)
diff --git a/arch/sim/Kconfig b/arch/sim/Kconfig
index f5d29e32d5..617a849112 100644
--- a/arch/sim/Kconfig
+++ b/arch/sim/Kconfig
@@ -61,7 +61,7 @@ config SIM_CYGWIN_DECORATED
 config SIM_ASAN
 	bool "Address Sanitizer"
 	default n
-	depends on MM_CUSTOMIZE_MANAGER
+	depends on MM_CUSTOMIZE_MANAGER && FRAME_POINTER
 	---help---
 		AddressSanitizer (ASan) is a fast compiler-based tool for detecting memory
 		bugs in native code.
@@ -69,6 +69,7 @@ config SIM_ASAN
 config SIM_UBSAN
 	bool "Undefined Behaviour Sanitizer"
 	default n
+	depends on FRAME_POINTER
 	---help---
 		Compile-time instrumentation is used to detect various undefined behaviours
 		at runtime.
diff --git a/arch/xtensa/src/lx6/Toolchain.defs b/arch/xtensa/src/lx6/Toolchain.defs
index 0a99d7f749..d5e767aefb 100644
--- a/arch/xtensa/src/lx6/Toolchain.defs
+++ b/arch/xtensa/src/lx6/Toolchain.defs
@@ -49,6 +49,12 @@ else
   MAXOPTIMIZATION ?= -Os
 endif
 
+ifeq ($(CONFIG_FRAME_POINTER),y)
+  MAXOPTIMIZATION += -fno-omit-frame-pointer -fno-optimize-sibling-calls
+else
+  MAXOPTIMIZATION += -fomit-frame-pointer
+endif
+
 # Default toolchain
 ifeq ($(CONFIG_XTENSA_TOOLCHAIN_XCC), y)
   CC = $(CROSSDEV)xcc
diff --git a/arch/xtensa/src/lx7/Toolchain.defs b/arch/xtensa/src/lx7/Toolchain.defs
index 1c39d64128..e36bf8ffa1 100644
--- a/arch/xtensa/src/lx7/Toolchain.defs
+++ b/arch/xtensa/src/lx7/Toolchain.defs
@@ -29,7 +29,6 @@
 #                   reliable code generation.
 #
 
-
 ifeq ($(CONFIG_XTENSA_TOOLCHAIN_XCC), y)
   CROSSDEV = xt-
 endif
@@ -50,6 +49,12 @@ else
   MAXOPTIMIZATION := -Os
 endif
 
+ifeq ($(CONFIG_FRAME_POINTER),y)
+  MAXOPTIMIZATION += -fno-omit-frame-pointer -fno-optimize-sibling-calls
+else
+  MAXOPTIMIZATION += -fomit-frame-pointer
+endif
+
 # Default toolchain
 ifeq ($(CONFIG_XTENSA_TOOLCHAIN_XCC), y)
   CC = $(CROSSDEV)xcc