If you choose to use CONFIG_PRIVSEP=y, the wpabuf functions seem to miss. The attached patch is against trunk and should probably fix it.
@@ -1043,6 +1043,7 @@ OBJS_priv += ../src/utils/os_$(CONFIG_OS).o
OBJS_priv += ../src/utils/$(CONFIG_ELOOP).o
OBJS_priv += ../src/utils/common.o
OBJS_priv += ../src/utils/wpa_debug.o
+OBJS_priv += ../src/utils/wpabuf.o
OBJS_priv += wpa_priv.o
ifdef CONFIG_DRIVER_TEST
OBJS_priv += ../src/crypto/sha1.o