Adding -Wsign-compare add a lot of warning.
They are mostly useless, but it would have help locate an issue where motion task period calculation was wrong, the task taking more time than the allowed.

Looking in the warning, using size_t in for index loop, adding U to constants (to fix errors in MIN and MAX) and other small changes would fix most of the warnings. Other needs more work.

Adding -Wsign-compare in final CFLAGS in Makefile.toolchain and using make -k to get all warnings.
-CFLAGS+= -fno-delete-null-pointer-checks -fconserve-stack
+CFLAGS+= -fno-delete-null-pointer-checks -fconserve-stack -Wsign-compare
 

Deleted: error2 131 KB

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