Assemble and upload the binary to the ULP with Arduino

Other Hardware 3rd Party Boards
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I'm doing a project and for speed reasons I have to process a serial input of data -not conventional- from the ULP.
Can someone explain to me how to generate the .o files to be introduced into the Arduino IDE from an assembler file from the ULP?
Is there a quick method that doesn't involve macros, which seem to be obsolete, or installing ESP-IDF?

Thanks in advance

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