diff --git a/tools/ci/check_cpp_guards.sh b/tools/ci/check_cpp_guards.sh
index cc9f5fad12..558990d56e 100755
--- a/tools/ci/check_cpp_guards.sh
+++ b/tools/ci/check_cpp_guards.sh
@@ -1,6 +1,15 @@
 #!/bin/bash
 #
-# This script finds all files which do not contain "#ifdef __cplusplus", except the ones listed in check_cpp_guards_exceptions.txt
+# This script finds all *.h files in public include dirs and checks for
+# * compilation issues
+# * c++ header guards
+#
+# The script fails if another a new header fails and not listed in check_cpp_guards_exceptions.txt
+#
+# Script arguments:
+# --verbose: enables printing details if compilation fails (verbose is off by default)
+# --process-all-files: all files are checked and then excluded, by default the excluded files are skipped and not checked
+# --include-maxdepth=X: maximum directory depth for finding include files in include dirs (by default not specified=infinity)
 
 set -euo pipefail
 
@@ -11,15 +20,94 @@ fi
 
 ##################### helper functions #####################
 
+# log_error  <filename>
+#
+# Logs details on filename processing when the include fails
+function log_error()
+{
+    if [ ! -z "$VERBOSE" ]; then
+        file=$1
+        echo " verbose..."
+        echo "$LINE"
+        grep -A5 "error:"
+        echo "$LINE"
+        echo -n "$file"
+    fi
+}
+
+# preproc_one_header <filename>
+#
+# Function to preprocess a header with CC and CXX and compares result
+# Returns
+# 0 -> Never returns zero (for easier return value expansion)
+# 1 -> Cannot compile, but failed with "#error" directive (header seems OK)
+# 2 -> Cannot compile with another issue, logged if verbose (header FAILs)
+# 3 -> Both preprocessors produce zero out (header file is OK)
+# 4 -> Both preprocessors produce the same, non-zero output (header file FAILs)
+# 5 -> Both preprocessors produce different, non-zero output with extern "C" (header seems OK)
+# 6 -> Both preprocessors produce different, non-zero output without extern "C" (header seems OK)
+function preproc_one_header() 
+{
+    file=$1
+    if ! cpp_out=`xtensa-esp32-elf-g++ -w -P -E --std=c++17 ${file} ${FLAGS_INCLUDE_DIRS} 2>&1`; then
+        if [[ "$cpp_out" =~ "#error" ]]; then
+            return 1
+        fi;
+        # Logging the compilation issue issue
+        echo "$cpp_out" | log_error $file
+        return 2
+    fi;
+    if ! c99_out=`xtensa-esp32-elf-gcc -w -P -E --std=c99 ${file}  ${FLAGS_INCLUDE_DIRS} 2>/dev/null`; then
+        # Should not happen, fail with compilation issue
+        return 2
+    fi;
+    if diff_out=`diff  <(echo "$cpp_out" ) <(echo "$c99_out")`; then
+        # checks zero output: contains spaces only if lines < 5 (for performace)
+        lines=`echo "$cpp_out" | wc -l`
+        if [ $lines -lt 5 ] && [ -z "${cpp_out// }" ]; then 
+            return 3
+        fi
+        return 4
+    elif echo $diff_out | grep -q 'extern "C"'; then
+        return 5
+    fi
+    return 6
+}
+
 # check_one_header <filename>
 #
 # Function used to implement the logic of checking a single header.
 # Returns 0 on success (as a normal bash function would).
-# Ideally shouldn't print anything.
+# Ideally shouldn't print anything (if verbose, preproc_one_header outputs compilation errors)
 function check_one_header
 {
     include_file=$1
-    grep -q '#ifdef __cplusplus' ${include_file}
+    # Procedure:
+    # 1) Preprocess the include file with C preprocessor and with CPP preprocessor
+    #   - Pass the test if the preprocessor outputs are the same and whitespaces only (#define only header)
+    #   - Fail the test if the preprocessor outputs are the same (but with some code)
+    #   - If outputs different, continue with 2)
+    # 2) Strip out all include directives to generate "temp.h"
+    # 3) Preprocess the temp.h the same way in (1)
+    #   - Pass the test if the preprocessor outputs are the same and whitespaces only (#include only header)
+    #   - Fail the test if the preprocessor outputs are the same (but with some code)
+    #   - If outputs different, pass the test
+    #
+    preproc_one_header ${include_file} || ret=$?
+    case $ret in
+    1*)         return 0 ;; # Pass if #error
+    2*)         return 2 ;; # Fail if other compile issue
+    3*)         return 0 ;; # Pass if zero out
+    4*)         return 1 ;; # Fail if the same non-zero out
+    [5-6]*)         # Process further if different and non-zero
+        sed '/#include/d; /#error/d' ${include_file} > temp.h
+        case `preproc_one_header temp.h || echo $?` in
+        [1-3]*) return 0 ;; # Pass if compile issues (have stripped includes)
+        4*)     return 1 ;; # Fail if the same non-zero out
+        5*)     return 0 ;; # Pass if different and non-zero and with extern "C"
+        6*)     return 1 ;; # Fail if different and non-zero, but without extern "C"
+        esac
+    esac
 }
 
 # get_include_dir_list
@@ -39,6 +127,9 @@ function get_include_dirs_list
     # build the list of include directories, only considering the directories in "components/"
     include_dirs=""
     for token in ${build_command}; do
+        if [[ "${token}" =~ ^-I.* ]]; then
+            flags_include_dirs+=" $token"
+        fi
         if [[ ! "${token}" =~ ^-I.*/components/.* ]]; then
             continue
         fi
@@ -47,78 +138,112 @@ function get_include_dirs_list
     done
 
     export INCLUDE_DIRS=${include_dirs}
+    flags_include_dirs+=" -I $IDF_PATH/examples/get-started/blink/build/config"
+    export FLAGS_INCLUDE_DIRS=${flags_include_dirs}
 }
 
-# check_include_dirs <include_dirs> <failed_headers_list_file>
+# check_include_dirs <include_dirs> <missing_guard_list_file> <compile_error_list_file>
 #
 # Check all header files in directories listed in include_dirs variable.
-# Places the list of header files with some issues into <failed_headers_list_file> file.
+# Places the list of header files where suspects missing C++ guard to <missing_guard_list_file> file.
+# Places the list of header files where compilation issues found to <compile_error_list_file> file.
 # Calls check_one_header function to check a single header file.
 function check_include_dirs
 {
     local include_dirs="$1"
-    local failed_headers_list_file="$2"
+    local missing_guard_list_file="$2"
+    local compile_error_list_file="$3"
+    local include_dir_maxdepth=${INCLUDE_DIR_MAXDEPTH:-}
+    local grep_expr=$(mktemp)
 
-    rm -f ${failed_headers_list_file}
-    touch ${failed_headers_list_file}
+    rm -f ${missing_guard_list_file} ${compile_error_list_file}
+    touch ${missing_guard_list_file} ${compile_error_list_file}
+
+    if [ -z "$PROCESS_ALL_INCLUDES" ]; then
+        # generate grep expr: 1) strip comments, 2) generate '<exclude1>\|<exclude2>\|...'
+        exclusions=`cat $EXCLUSIONS_LIST | sed '/^#/d'`
+        echo $exclusions | sed 's/ /\\|/g' > ${grep_expr}
+    fi;
 
     for include_dir in ${include_dirs}; do
         echo "Processing include directory: ${include_dir}"
-        include_files=$(find ${include_dir} -name '*.h')
+        include_files=$(find ${include_dir} ${include_dir_maxdepth} -name '*.h')
         for include_file in ${include_files}; do
-            printf "    Processing ${include_file}"
-            if ! check_one_header ${include_file}; then
-                printf " FAIL!\n"
-                echo ${include_file##${IDF_PATH}/} >> ${failed_headers_list_file}
-            else
-                printf " OK\n"
+            if [ -z "$PROCESS_ALL_INCLUDES" ] && echo "$include_file" | grep -q -f ${grep_expr}; then
+                printf "    Excluding ${include_file}\n"
+                continue
             fi
+            printf "    Processing ${include_file}"
+            check_one_header ${include_file} && ret=0 || ret=$?
+            case "$ret" in
+            0*) printf " OK\n" ;;
+            1*) 
+                echo ${include_file##${IDF_PATH}/} >> ${missing_guard_list_file}
+                printf " FAIL (missing c++ guard)\n" ;;
+            2*) 
+                echo ${include_file##${IDF_PATH}/} >> ${compile_error_list_file}
+                printf " FAIL (cannot compile)\n" ;;
+            esac
         done
     done
+    rm -f ${grep_expr}
 }
 
-# filter_exclusions <input_list_file> <exclusions_list_file> <filtered_list_file>
+# filter_exclusions <exclusions_list_file> <filtered_list_file>
 #
-# Takes the list of files in <input_list_file> file, and removes all files which
+# Takes the list of files from stdin, and removes all files which
 # are listed in <exclusions_list_file> file.
 # Saves the final (filtered) list in <filtered_list_file> file.
 # The exclusions list file may contain comments and empty lines.
 function filter_exclusions
 {
-    local input_list_file=$1
-    local exclusions_list_file=$2
-    local filtered_list_file=$3
-    local temp_list=$(mktemp)
+    local exclusions_list_file=$1
+    local filtered_list_file=$2
+    local grep_expr=$(mktemp)
 
-    cp ${input_list_file} ${filtered_list_file}
-    touch ${temp_list}
+    # generate grep expr: 1) strip comments, 2) generate '<exclude1>\|<exclude2>\|...'
+    exclusions=`cat $exclusions_list_file | sed '/^#/d'`
+    echo $exclusions | sed 's/ /\\|/g' > ${grep_expr}
 
-    while read -r line; do
-        if [[ "${line}" =~ ^\# || -z "${line}" ]]; then
-            continue
-        fi
-        echo "Excluding ${line}"
-        grep -vE "${line}" ${filtered_list_file} > ${temp_list} || true
-        mv ${temp_list} ${filtered_list_file}
-    done < ${exclusions_list_file}
-
-    rm -f ${temp_list}
+    # pass the expression as file (input goes from stdin)
+    grep -vf ${grep_expr}  > ${filtered_list_file} || true
+    rm -f ${grep_expr}
 }
 
 ##################### main logic starts here #####################
 
 EXCLUSIONS_LIST=${IDF_PATH}/tools/ci/check_cpp_guards_exceptions.txt
 MISSING_GUARDS_LIST=missing.txt
+CANNOT_COMPILE_LIST=cannot_compile.txt
 FILTERED_LIST=filtered.txt
 LINE=---------------------------------------------------------------
+VERBOSE=""
+PROCESS_ALL_INCLUDES=""
 
+# Process command line arguments
+for i in $@; do
+    if [[ "$i" =~ "--verbose" ]]; then
+        echo "$0: Enabling verbose output"
+        VERBOSE="1"
+    fi
+    if [[ "$i" =~ "--process-all-files" ]]; then
+        echo "$0: Processing all files"
+        PROCESS_ALL_INCLUDES="1"
+    fi
+    if [[ "$i" =~ --include-maxdepth=* ]]; then
+        INCLUDE_DIR_MAXDEPTH="-maxdepth ${i##--include-maxdepth=}"
+        echo "$0: Searching for includes with: $INCLUDE_DIR_MAXDEPTH"
+    fi
+done
 
+echo $LINE
 get_include_dirs_list
-check_include_dirs "${INCLUDE_DIRS}" ${MISSING_GUARDS_LIST}
-filter_exclusions ${MISSING_GUARDS_LIST} ${EXCLUSIONS_LIST} ${FILTERED_LIST}
+check_include_dirs "${INCLUDE_DIRS}" ${MISSING_GUARDS_LIST} ${CANNOT_COMPILE_LIST}
+cat ${MISSING_GUARDS_LIST} ${CANNOT_COMPILE_LIST} | filter_exclusions ${EXCLUSIONS_LIST} ${FILTERED_LIST}
+echo $LINE
 
 if [ -s ${FILTERED_LIST} ]; then
-    echo "The following files don't have C++ guards:"
+    echo "The following files failed:"
     echo ""
     cat ${FILTERED_LIST}
     exit 1
diff --git a/tools/ci/check_cpp_guards_exceptions.txt b/tools/ci/check_cpp_guards_exceptions.txt
index 4985524812..8fe96a4420 100644
--- a/tools/ci/check_cpp_guards_exceptions.txt
+++ b/tools/ci/check_cpp_guards_exceptions.txt
@@ -1,3 +1,5 @@
+### General ignore list
+#
 components/xtensa/include/xtensa/*
 components/xtensa/include/*
 components/xtensa/esp32/include/xtensa/config/*
@@ -15,52 +17,35 @@ components/soc/include/soc/*
 
 components/esp_rom/include/esp32s2beta/rom/rsa_pss.h
 
-components/esp_common/include/esp_types.h
-components/esp_common/include/esp_assert.h
-components/esp_common/include/esp_bit_defs.h
-components/esp_common/include/esp_task.h
 components/esp_common/include/esp_private/*
 
-components/esp32/include/esp32/*
-components/esp32/include/rom/*
-components/esp32/include/esp_clk.h
-components/esp32/include/esp_intr.h
-components/esp32/include/esp_himem.h
-components/esp32/include/esp_spiram.h
-components/driver/include/driver/touch_pad.h
+components/esp32/include/esp32/brownout.h
+components/esp32/include/esp32/spiram.h
+components/esp32/include/esp32/cache_err_int.h
 
 components/driver/include/driver/sdmmc_defs.h
 components/driver/include/driver/sdmmc_types.h
-components/driver/include/driver/rtc_cntl.h
-components/driver/include/driver/sigmadelta.h
 
-components/esp_event/include/esp_event_loop.h
+components/lwip/include/apps/dhcpserver/dhcpserver_options.h
+components/lwip/include/apps/dhcpserver/dhcpserver.h
 
-components/lwip/include/apps/dhcpserver/*
-components/lwip/include/apps/esp_sntp.h
-components/lwip/lwip/src/include/compat/*
-components/lwip/lwip/src/include/lwip/*
-components/lwip/lwip/src/include/netif/*
-components/lwip/port/esp32/include/*
+components/lwip/lwip/src/include/lwip/priv/memp_std.h
+components/lwip/port/esp32/include/arch/cc.h
+components/lwip/port/esp32/include/debug/lwip_debug.h
+components/lwip/port/esp32/include/arch/cc.h
 
 components/vfs/include/sys/dirent.h
 
-components/esp_wifi/include/esp_private/*
 components/esp_wifi/include/esp_wifi_netif.h
 components/esp_wifi/include/esp_wifi_default.h
 components/esp_wifi/esp32/include/phy_init_data.h
 
-components/tcpip_adapter/include/tcpip_adapter_compatible/tcpip_adapter_compat.h
-components/tcpip_adapter/include/tcpip_adapter.h
-components/tcpip_adapter/include/tcpip_adapter_types.h
-
 components/spi_flash/include/spi_flash_chip_issi.h
 components/spi_flash/include/spi_flash_chip_gd.h
 components/spi_flash/include/memspi_host_driver.h
 components/spi_flash/include/spi_flash_chip_driver.h
 components/spi_flash/include/spi_flash_chip_generic.h
 
-components/bootloader_support/include/esp_flash_data_types.h
 components/bootloader_support/include/esp_app_format.h
 
 components/wpa_supplicant/include/*
@@ -71,17 +56,12 @@ components/mbedtls/mbedtls/include/mbedtls/*
 
 components/espcoredump/include/esp_core_dump.h
 
-components/perfmon/include/perfmon.h
-
-components/asio/*
 components/coap/*
 components/nghttp/*
 components/cbor/*
 
 components/esp-tls/private_include/*
 
-components/esp_http_server/include/http_server.h
-
 components/protobuf-c/*
 
 components/mdns/include/mdns_console.h
@@ -95,7 +75,6 @@ components/fatfs/vfs/vfs_fat_internal.h
 components/fatfs/src/ffconf.h
 
 components/freemodbus/common/include/esp_modbus_common.h
-components/freemodbus/common/include/mbcontroller.h
 components/freemodbus/common/include/esp_modbus_master.h
 components/freemodbus/common/include/esp_modbus_slave.h
 
@@ -105,14 +84,16 @@ components/json/cJSON/*
 
 components/libsodium/*
 
-components/mqtt/esp-mqtt/include/mqtt_supported_features.h
-components/mqtt/esp-mqtt/include/mqtt_config.h
-
-components/openssl/include/platform/ssl_opt.h
-
 components/spiffs/include/spiffs_config.h
 
 components/unity/unity/src/unity_internals.h
-components/unity/include/priv/setjmp.h
+components/unity/include/unity_config.h
+components/unity/include/unity_test_runner.h
 
+### Here are the files that do not compile for some reason
+#
+components/esp_rom/include/esp32s2beta/rom/spi_flash.h
+components/app_trace/include/esp_sysview_trace.h
+components/esp_gdbstub/include/esp_gdbstub.h
+components/openssl/include/platform/ssl_pm.h
 
diff --git a/tools/ci/config/pre_check.yml b/tools/ci/config/pre_check.yml
index f057904728..34bd440b89 100644
--- a/tools/ci/config/pre_check.yml
+++ b/tools/ci/config/pre_check.yml
@@ -165,5 +165,5 @@ check_header_files_cpp_guards:
       - $BOT_LABEL_BUILD
       - $BOT_LABEL_REGULAR_TEST
   script:
-    - tools/ci/check_cpp_guards.sh
+    - tools/ci/check_cpp_guards.sh --verbose --process-all-files