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Mainly it can refer to the page Compile Firmware from source using Ubuntu to install the extra software packages.
To build the source code, several more packages needs to be installed:
sudo apt-get install bc lzip xmlto libmpc-dev antlr3
And libmpc.so need be re-linked for the compilers with Ubuntu 16.0.4:
libmpc.so
sudo ln -s libmpc.so.3.0.0 /usr/lib/x86_64-linux-gnu/libmpc.so.2