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I'd say that interoperability with dasp could be considered here. It supports no_std environment, however looks like it supports only slices rather than proper audio buffers
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Besides that allocation is not really a problem for no_std. It's resolved by using alloc crate directly, so anything usable with custom allocators is supported. Example in dasp sources - https://github.com/RustAudio/dasp/blob/master/dasp_slice/src/boxed.rs#L14-L19 . Also worth looking at this issue to check what is usable already - https://github.com/rust-lang/wg-allocators/issues/7
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Here's a code fragment that can be plugged into the beep example to replace the let mut c = ... part: