follow the guide from google Initializing a Build Environment

follow the guide from google Downloading the Source Tree

Starting with Ice Cream Sandwich, the Android Open-Source Project can't be used from pure source code only, and requires additional hardware-related proprietary libraries to run, specifically for hardware graphics acceleration.

Download the following proprietary binaries from https://developers.google.com/android/nexus/drivers#magurojop40c

• broadcom-maguro-jop40c-2cad4878.tgz
• imgtec-maguro-jop40c-e5ef8df8.tgz
• invensense-maguro-jop40c-7439e78a.tgz
• nxp-maguro-jop40c-ee2caf89.tgz
• samsung-maguro-jop40c-3428b662.tgz
• widevine-maguro-jop40c-5c69c139.tgz

extract the tarball, and execute the extracted shell scripts

• extract-broadcom-maguro.sh
• extract-imgtec-maguro.sh
• extract-invensense-maguro.sh
• extract-nxp-maguro.sh
• extract-samsung-maguro.sh
• extract-widevine-maguro.sh

$ cd ANDROID_HOME
$ source build/envsetup.sh
$ lunch

choose 13. mangro-userdebug

$ make -j4