1. install
sudo apt-get install git-core gnupg flex bison gperf build-essential zip curl zlib1g-dev gcc-multilib g++-multilib libc6-dev-i386 lib32ncurses5-dev x11proto-core-dev libx11-dev lib32z-dev ccache libgl1-mesa-dev libxml2-utils xsltproc unzip m4 lzop
2. fix error of external/libcxxabi/src/abort_message.cpp:38: error: unsupported reloc 43
cp /usr/bin/ld.gold prebuilts/gcc/linux-x86/host/x86_64-linux-glibc2.11-4.6/x86_64-linux/bin/ld
ubuntu 16.04 os