Bela is a hard-real-time, ultra-low latency audio and sensor environment for BeagleBone Black, which works with the BeagleBone Audio Cape or a custom "Bela Cape" which incorporates stereo audio with 8x, 16-bit analog inputs and outputs.

Bela is based on the Xenomai real-time Linux extensions (http://xenomai.org) and uses the BeagleBone PRU subsystem to address the audio and sensor hardware.

Further information can be found at http://bela.io