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Bela is an open-source embedded platform for audio and sensor processing. It uses a Beagle Bone Black single-board computer with a custom hard-real time audio environment based on Xenomai Linux, which is capable of submillisecond round-trip audio latencies (as low as 80 microseconds in certain configurations). The Bela hardware features stereo audio input and output, 8 channels each of 16-bit analog input and output, and 16 digital I/Os, all sampled at audio rates with nearly jitter-free alignment to the audio clock. This paper will present the hardware, software, and selected applications of Bela. Bela is suitable for creating digital musical instruments and interactive audio systems, and its low latency makes it especially well adapted for real-time feedback control over acoustic systems. It has been used in feedback control experiments with wind and string instruments and used as the basis for a study of the performer's experience of latency on percussion instruments.
Andrew McPherson (Mon,) studied this question.