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    ReSpeaker USB Mic Array An out-of-the-box voice pick-up device is the voice of the customer. During the past year, Respeaker Mic Array V2.0 has been sold out for more than 10K units in the format of the development board. Customers keep requesting a complete device with an enclosure, which is challenging for them to design it, considering the acoustic principles. And here Seeed provides the answer with ReSpeaker USB Mic Array:   An out-of-box device with a well-designed acoustic structure brings the flexibility for the customer to build in their solution. Mold injected enclosure available, saves the time to go to the market and the mold cost. The difference between the PCBA inside ReSpeaker USB Mic Array and Respeaker Mic Array V2.0:   Optimized power circuit Move the audio jack and micro USB port to the backside. Features      o o o o o o Far-field voice capture Support USB Audio Class 1.0 (UAC 1.0) Four microphones array 12 programmable RGB LED indicators Speech algorithms and features Voice Activity Detection Direction of Arrival Beamforming Noise Suppression De-reverberation Acoustic Echo Cancellation Specification               XVF-3000 from XMOS 4 high performance digital microphones Supports Far-field Voice Capture Speech algorithm on-chip 12 programmable RGB LED indicators Microphones: ST MP34DT01TR-M Sensitivity: -26 dBFS (Omnidirectional) Acoustic overload point: 120 dBSPL SNR: 61 dB Power Supply: 5V DC from Micro USB Dimensions: 70mm (Diameter) 3.5mm Audio jack output socket Power consumption: 5V, 180mA with led on and 170mA with led off Max Sample Rate: 48Khz Hardware Overview  ① XMOS XVF-3000: It integrates advanced DSP algorithms that include Acoustic Echo Cancellation (AEC), beamforming, dereverberation, noise suppression and gain control.      ② Digital Microphone: The MP34DT01-M is an ultra-compact, lowpower, omnidirectional, digital MEMS microphone built with a capacitive sensing element and an IC interface. ③ RGB LED: Three-color RGB LED. ④ USB Port: Provide the power and control the mic array. ⑤ 3.5mm Headphone jack: Output audio, We can plug active speakers or Headphones into this port. ⑥ WM8960: The WM8960 is a low power stereo codec featuring Class D speaker drivers to provide 1 W per channel into 8 W loads. System Diagram Applications          USB Voice Capture Smart Speaker Intelligent Voice Assistant Systems Voice Recorders Voice Conferencing System Meeting Communicating Equipment Voice Interacting Robot Car Voice Assistant Other Voice Interface Scenarios Getting Started Note ReSpeaker USB Mic Array is compatiable with Windows, Mac, Linux systems andriod. The below scripts are tested on Python2.7. Update Firmware Here is the table for the differences. Firmware 1_channel_firmware.bin Channels 1 Note processed audio for ASR Firmware Channels Note 1_channel_firmware_6.02dB.bin 1 same as 1_channel_firmware.bin, but 4 microphones have a 6.02dB gain 1_channel_firmware_12.06dB.bin 1 same as 1_channel_firmware.bin, but 4 microphones have a 12.04dB gain 48k_1_channels_firmware.bin 1 48k sample rate, 1 input channel 48k_1_channel_firmware_6.02dB.bin 1 48k sample rate, 1 input channel, but 4 microphones have a 6.02dB gain 6_channels_firmware.bin 6 channel 0: processed audio for ASR, channel 1-4: 4 microphones' raw data, channel 5: playback（factory firmware） 6_channels_firmware_6.02dB.bin 6 same as 6_channels_firmware.bin, but 4 microphones have a 6.02dB gain 6_channels_firmware_12.04dB.bin 6 same as 6_channels_firmware.bin, but 4 microphones have a 12.04dB gain 48k_6_channels_firmware.bin 6 48k sample rate, 6 input channels 48k_6_channels_firmware_6.02dB.bin 6 48k sample rate, 6 input channels, 6.02dB gain For Linux: The Mic array supports the USB DFU. We develop a python script dfu.py to update the firmware through USB. 1 sudo apt-get update 2 sudo pip install pyusb click 3 git clone https://github.com/respeaker/usb_4_mic_array.git 4 cd usb_4_mic_array 5 sudo python dfu.py --download 6_channels_firmware.bin # The 6 channels 6 version 7 8 # if you want to use 1 channel,then the command should be like: 9 sudo python dfu.py --download 1_channel_firmware.bin   Here is the firmware downloading result. For Windows/Mac: We do not suggest use Windows/Mac and Linux vitual machine to update the firmware. Out of Box Demo Here is the Acoustic Echo Cancellation example with 6 channels firmware.  Step 1. Connect the USB cable to PC and audio jack to speaker.     Step 2. Select the mic array v2.1 as output device in PC side. Step 3. Start the audacity to record. Step 4. Play music at PC side first and then we talk. Step 5. We will see the audacity screen as below, Please click Solo to hear each channel audio. Channel0 Audio(processed by algorithms): Channel1 Audio(Mic1 raw data): Channel5 Audio(Playback data): Here is the video about the DOA and AEC. Install DFU and LED Control Driver  Windows: Audio recording and playback works well by default. Libusb-win32 driver is only required to control LEDs an DSP parameters on Windows. We use a handy tool - Zadig to install the libusb-win32 driver for both SEEED DFU and SEEED Control (ReSpeaker Mic Array has 2 devices on Windows Device Manager). Warning Please make sure that libusb-win32 is selected, not WinUSB or libusbK.   MAC: No driver is required. Linux: No driver is required. Tuning For Linux/Mac/Windows: We can configure some parameters of built-in algorithms.  Get the full list parameters, for more info, please refer to FAQ. 1 git clone https://github.com/respeaker/usb_4_mic_array.git 2 cd usb_4_mic_array 3 python tuning.py -p    Example#1, we can turn off Automatic Gain Control (AGC): 1 sudo python tuning.py AGCONOFF 0    Example#2, We can check the DOA angle. 1 pi@raspberrypi:~/usb_4_mic_array $ sudo python tuning.py DOAANGLE 2 DOAANGLE: 180   Control the LEDs We can control the ReSpeaker USB Mic Array's LEDs through USB. The USB device has a Vendor Specific Class Interface which can be used to send data through USB Control Transfer. We refer pyusb python library and come out the usb_pixel_ring python library. The LED control command is sent by pyusb's usb.core.Device.ctrl_transfer(), its parameters as below： 1 ctrl_transfer(usb.util.CTRL_OUT | usb.util.CTRL_TYPE_VENDOR | usb.util.CTRL_RECIPIENT_DEVICE, 0, command, 0x1C, data, TIMEOUT)   Here are the usb_pixel_ring APIs. Command Data API Note 0 [0] pixel_ring.trace() trace mode, LEDs changing depends on VAD* and DOA* 1 [red, green, pixel_ring.mono() blue, 0] mono mode, set all RGB LED to a single color, for example Red(0xFF0000), Green(0x00FF00)， Blue(0x0000FF) 2 [0] pixel_ring.listen() listen mode, similar with trace mode, but not turn LEDs off 3 [0] pixel_ring.speak() wait mode 4 [0] pixel_ring.think() speak mode 5 [0] pixel_ring.spin() spin mode 6 [r, g, b, 0] * pixel_ring.customize() 12 custom mode, set each LED to its own color 0x20 [brightness] pixel_ring.set_brightness() set brightness, range: 0x00~0x1F Command Data API Note 0x21 [r1, g1, b1, pixel_ring.set_color_palette() set color palette, for example, 0, r2, g2, b2, pixel_ring.set_color_palette(0xff0000, 0] 0x00ff00) together with pixel_ring.think() 0x22 [vad_led] pixel_ring.set_vad_led() set center LED: 0 - off, 1 - on, else depends on VAD 0x23 [volume] pixel_ring.set_volume() show volume, range: 0 ~ 12 0x24 [pattern] pixel_ring.change_pattern() set pattern, 0 - Google Home pattern, others - Echo pattern For Linux: Here is the example to control the leds. Please follow below commands to run the demo. 1 git clone https://github.com/respeaker/pixel_ring.git 2 cd pixel_ring 3 sudo python setup.py install 4 sudo python examples/usb_mic_array.py   Here is the code of the usb_mic_array.py. 1 import time 2 from pixel_ring import pixel_ring 3 4 5 if __name__ == '__main__': while True: 6 7 try: 8 pixel_ring.wakeup() 9 time.sleep(3) 10 pixel_ring.think() 11 time.sleep(3) 12 pixel_ring.speak() 13 time.sleep(6) 14 pixel_ring.off() 15 time.sleep(3) 16 except KeyboardInterrupt: 17 break 18 19 20 pixel_ring.off() 21 time.sleep(1) 22   For Windows/Mac: Here is the example to control the leds.  Step 1. Download pixel_ring. 1 git clone https://github.com/respeaker/pixel_ring.git 2 cd pixel_ring/pixel_ring    Step 2. Create a led_control.py with below code and run 'python led_control.py' 1 from usb_pixel_ring_v2 import PixelRing 2 import usb.core 3 import usb.util 4 import time 5 6 dev = usb.core.find(idVendor=0x2886, idProduct=0x0018) 7 print dev 8 if dev: pixel_ring = PixelRing(dev) 9 10 while True: 11 try: 12 pixel_ring.wakeup(180) 13 time.sleep(3) 14 pixel_ring.listen() 15 time.sleep(3) 16 pixel_ring.think() 17 time.sleep(3) 18 pixel_ring.set_volume(8) 19 time.sleep(3) 20 pixel_ring.off() 21 time.sleep(3) 22 except KeyboardInterrupt: 23 break 24 25 pixel_ring.off() 26   Note If you see "None" printed on screen, please reinstall the libusb-win32 driver. DOA (Direction of Arrival) For Windows/Mac/Linux: Here is the example to view the DOA. The Green LED is the indicator of the voice direction. For the angle, please refer to hardware overview.  Step 1. Download the usb_4_mic_array. 1 git clone https://github.com/respeaker/usb_4_mic_array.git 2 cd usb_4_mic_array    Step 2. Create a DOA.py with below code under usb_4_mic_array folder and run 'sudo python DOA.py' 1 from tuning import Tuning 2 import usb.core 3 import usb.util 4 import time 5 6 dev = usb.core.find(idVendor=0x2886, idProduct=0x0018) 7 8 if dev: Mic_tuning = Tuning(dev) 9 print Mic_tuning.direction 10 while True: 11 try: 12 print Mic_tuning.direction 13 time.sleep(1) 14 except KeyboardInterrupt: 15 break 16    Step 3. We will see the DOA as below. 1 pi@raspberrypi:~/usb_4_mic_array $ sudo python doa.py 2 184 3 183 4 175 5 105 6 104 7 104 8 103   VAD (Voice Activity Detection) For Windows/Mac/Linux: Here is the example to view the VAD. The Red LED is the indicator of the VAD.  Step 1. Download the usb_4_mic_array. 1 git clone https://github.com/respeaker/usb_4_mic_array.git 2 cd usb_4_mic_array    Step 2. Create a VAD.py with below code under usb_4_mic_array folder and run 'sudo python VAD.py' 1 from tuning import Tuning 2 import usb.core 3 import usb.util 4 import time 5 6 dev = usb.core.find(idVendor=0x2886, idProduct=0x0018) 7 #print dev 8 if dev: Mic_tuning = Tuning(dev) 9 print Mic_tuning.is_voice() 10 while True: 11 try: 12 print Mic_tuning.is_voice() 13 time.sleep(1) 14 except KeyboardInterrupt: 15 break 16    Step 3. We will see the DOA as below. 1 pi@raspberrypi:~/usb_4_mic_array $ sudo python VAD.py 20 30 40 51 60 71 80   Note For the threshold of VAD, we also can use the GAMMAVAD_SR to set. Please refer to Tuning for more detail. Extract Voice We use PyAudio python library to extract voice through USB. For Linux: We can use below commands to record or play the voice. 1 arecord -D plughw:1,0 -f cd test.wav # record, please use the arecord -l to 2 check the card and hardware first 3 aplay -D plughw:1,0 -f cd test.wav # play, please use the aplay -l to check the card and hardware first arecord -D plughw:1,0 -f cd |aplay -D plughw:1,0 -f cd # record and play at the same time   We also can use python script to extract voice.  Step 1, We need to run the following script to get the device index number of Mic Array: 1 sudo pip install pyaudio 2 cd ~ 3 nano get_index.py    Step 2, copy below code and paste on get_index.py. 1 import pyaudio 2 3 p = pyaudio.PyAudio() 4 info = p.get_host_api_info_by_index(0) 5 numdevices = info.get('deviceCount') 6 7 for i in range(0, numdevices): if (p.get_device_info_by_host_api_device_index(0, 8 9 i).get('maxInputChannels')) > 0: print "Input Device id ", i, " - ", p.get_device_info_by_host_api_device_index(0, i).get('name')     Step 3, press Ctrl + X to exit and press Y to save. Step 4, run 'sudo python get_index.py' and we will see the device ID as below. 1 Input Device id 2 - ReSpeaker 4 Mic Array (UAC1.0): USB Audio (hw:1,0)    Step 5, change RESPEAKER_INDEX = 2 to index number. Run python script record.py to record a speech. import pyaudio 1 import wave 2 RESPEAKER_RATE = 16000 RESPEAKER_CHANNELS = 6 # change base on firmwares, 1_channel_firmware.bin 3 as 1 or 6_channels_firmware.bin as 6 RESPEAKER_WIDTH = 2 4 # run getDeviceInfo.py to get index RESPEAKER_INDEX = 2 # refer to input device id 5 CHUNK = 1024 RECORD_SECONDS = 5 6 WAVE_OUTPUT_FILENAME = "output.wav" 7 p = pyaudio.PyAudio() 8 stream = p.open( rate=RESPEAKER_RATE, format=p.get_format_from_width(RESPEAKER_WIDTH), 9 channels=RESPEAKER_CHANNELS, 1 input=True, 0 input_device_index=RESPEAKER_INDEX,) 1 1 1 print("* recording") 2 1 frames = [] 3 1 4 1 5 1 6 1 7 1 8 1 9 2 0 2 1 2 2 2 3 2 4 2 5 2 6 2 7 2 8 2 9 3 0 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 4 0 4 1 for i in range(0, int(RESPEAKER_RATE / CHUNK * RECORD_SECONDS)): data = stream.read(CHUNK) frames.append(data) print("* done recording") stream.stop_stream() stream.close() p.terminate() wf = wave.open(WAVE_OUTPUT_FILENAME, 'wb') wf.setnchannels(RESPEAKER_CHANNELS) wf.setsampwidth(p.get_sample_size(p.get_format_from_width(RESPEAKER_WIDTH)) ) wf.setframerate(RESPEAKER_RATE) wf.writeframes(b''.join(frames)) wf.close()    Step 6. If you want to extract channel 0 data from 6 channels, please follow below code. For other channel X, please change [0::6] to [X::6]. import pyaudio 1 import wave import numpy as np 2 RESPEAKER_RATE = 16000 3 RESPEAKER_CHANNELS = 6 # change base on firmwares, 1_channel_firmware.bin as 1 or 6_channels_firmware.bin as 6 4 RESPEAKER_WIDTH = 2 # run getDeviceInfo.py to get index 5 RESPEAKER_INDEX = 3 # refer to input device id CHUNK = 1024 6 RECORD_SECONDS = 3 WAVE_OUTPUT_FILENAME = "output.wav" 7 p = pyaudio.PyAudio() 8 stream = p.open( rate=RESPEAKER_RATE, 9 format=p.get_format_from_width(RESPEAKER_WIDTH), 1 channels=RESPEAKER_CHANNELS, 0 input=True, 1 input_device_index=RESPEAKER_INDEX,) 1 1 2 print("* recording") 1 3 frames = [] 1 4 for i in range(0, int(RESPEAKER_RATE / CHUNK * RECORD_SECONDS)): data = stream.read(CHUNK) 1 # extract channel 0 data from 6 channels, if you want to extract 5 1 channel 1, please change to [1::6] a = np.fromstring(data,dtype=np.int16)[0::6] 6 1 frames.append(a.tostring()) 7 1 print("* done recording") 8 1 stream.stop_stream() 9 stream.close() 2 p.terminate() 0 2 wf = wave.open(WAVE_OUTPUT_FILENAME, 'wb') 1 wf.setnchannels(1) 2 wf.setsampwidth(p.get_sample_size(p.get_format_from_width(RESPEAKER_WIDTH)) 2 ) 2 wf.setframerate(RESPEAKER_RATE) 3 wf.writeframes(b''.join(frames)) 2 wf.close() 4   2 5 2 6 2 7 2 8 2 9 3 0 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 4 0 4 1 4 2 4 3 4 4 For Windows:  Step 1. We run below command to install pyaudio. 1 pip install pyaudio    Step 2. Use get_index.py to get device index. 1 C:\Users\XXX\Desktop>python get_index.py 2 Input Device id 0 - Microsoft Sound Mapper - Input 3 Input Device id 1 - ReSpeaker 4 Mic Array (UAC1.0) 4 Input Device id 2 - Internal Microphone (Conexant I)    Step 3. Modify the device index and channels of record.py and then extract voice. 1 C:\Users\XXX\Desktop>python record.py 2 * recording 3 * done recording   Warning If we see "Error: %1 is not a valid Win32 application.", please install Python Win32 version. For MAC:  Step 1. We run below command to install pyaudio. 1 pip install pyaudio    Step 2. Use get_index.py to get device index. 1 MacBook-Air:Desktop XXX$ python get_index.py 2 Input Device id 0 - Built-in Microphone 3 Input Device id 2 - ReSpeaker 4 Mic Array (UAC1.0)    Step 3. Modify the device index and channels of record.py and then extract voice. 1 MacBook-Air:Desktop XXX$ python record.py 2 2018-03-24 14:53:02.400 Python[2360:16629] 14:53:02.399 WARNING: 140: This 3 application, or a library it uses, is using the deprecated Carbon Component 4 Manager for hosting Audio Units. Support for this will be removed in a future release. Also, this makes the host incompatible with version 3 audio units. Please transition to the API's in AudioComponent.h. * recording * done recording   Realtime Sound Source Localization and Tracking ODAS stands for Open embeddeD Audition System. This is a library dedicated to perform sound source localization, tracking, separation and post-filtering. Let's have a fun with it. For Linux:  Step 1. Get ODAS and build it. 1 sudo apt-get install libfftw3-dev libconfig-dev libasound2-dev libgconf-2-4 2 git clone https://github.com/introlab/odas.git 3 mkdir odas/build 4 cd odas/build 5 cmake .. 6 make      Step 2. Get ODAS Studio and open it. Step 3. The odascore will be at odas/bin/odaslive, the config file is odas.cfg. Step 4. Upgrade mic array with 6_channels_firmware.bin which includes 4 channels raw audio data. FAQ¶ Q1: Parameters of built-in algorithms 1 pi@raspberrypi:~/usb_4_mic_array $ python tuning.py -p type max min r/w info 2 name 3 ------------------------------int 1 0 rw Adaptive Echo Canceler updates inhibit. 4 AECFREEZEONOFF 0 = Adaptation 5 6 enabled 1 = Freeze 7 8 adaptation, filter only float 16 0.25 rw Limit on norm of AEC filter 9 AECNORM 10 coefficients int 1 0 ro AEC Path Change Detection. 11 AECPATHCHANGE 0 = false (no 12 13 path change detected) 1 = true (path 14 15 change detected) float 1 1e-09 rw Threshold for signal detection 16 AECSILENCELEVEL 17 in AEC [-inf .. 0] dBov (Default: -80dBov = 10log10(1x10-8)) int 1 0 ro AEC far-end silence detection status. 18 AECSILENCEMODE 0 = false 19 20 (signal detected) 1 = true 21 22 (silence detected) float 0.99 1e-08 rw Target power level of the 23 AGCDESIREDLEVEL 24 output signal. [−inf .. 0] 25 26 dBov (default: −23dBov = 10log10(0.005)) float 1000 1 rw Current AGC gain factor. 27 AGCGAIN [0 .. 60] dB 28 29 (default: 0.0dB = 20log10(1.0)) float 1000 1 rw Maximum AGC gain factor. 30 AGCMAXGAIN [0 .. 60] dB 31 32 (default 30dB = 20log10(31.6)) int 1 0 rw Automatic Gain Control. 33 AGCONOFF 0 = OFF 34 1 = ON 35 float 1 0.1 rw Ramps-up / down time-constant in 36 AGCTIME 37 seconds. int 1 0 rw Comfort Noise Insertion. 38 CNIONOFF 0 = OFF 39 1 = ON 40 int 359 0 ro DOA angle. Current value. Orientation 41 DOAANGLE 42 depends on build configuration. int 1 0 rw Echo suppression. 43 ECHOONOFF 0 = OFF 44 1 = ON 45 int 1 0 rw Adaptive beamformer updates. 46 FREEZEONOFF 0 = Adaptation 47 48 enabled 1 = Freeze 49 50 adaptation, filter only int 1 0 ro FSB Path Change Detection. 51 FSBPATHCHANGE 0 = false (no 52 53 path change detected) 1 = true (path 54 55 change detected) int 1 0 ro FSB Update Decision. 56 FSBUPDATED 0 = false (FSB 57 58 was not updated) 1 = true (FSB 59 60 was updated) float 1000 0 rw Set the threshold for voice 61 GAMMAVAD_SR 62 activity detection. [−inf .. 60] dB 63 64 (default: 3.5dB 20log10(1.5)) float 3 0 rw Over-subtraction factor of echo 65 GAMMA_E 66 (direct and early components). min .. max attenuation float 5 0 rw Over-subtraction factor of non67 GAMMA_ENL 68 linear echo. min .. max attenuation float 3 0 rw Over-subtraction factor of echo 69 GAMMA_ETAIL 70 (tail components). min .. max attenuation float 3 0 rw Over-subtraction factor of non71 GAMMA_NN 72 stationary noise. min .. max attenuation float 3 0 rw Over-subtraction factor of non73 GAMMA_NN_SR 74 stationary noise for ASR. [0.0 .. 3.0] 75 76 (default: 1.1) float 3 0 rw Over-subtraction factor of 77 GAMMA_NS 78 stationary noise. min .. max attenuation float 3 0 rw Over-subtraction factor of 79 GAMMA_NS_SR 80 stationary noise for ASR. [0.0 .. 3.0] 81 82 (default: 1.0) int 3 0 rw High-pass Filter on microphone signals. 83 HPFONOFF 0 = OFF 84 1 = ON - 70 Hz 85 86 cut-off 2 = ON - 125 Hz 87 88 cut-off 89 3 = ON - 180 Hz 90 cut-off 91 MIN_NN float 1 0 rw Gain-floor for non-stationary noise 92 suppression. 93 [−inf .. 0] dB 94 (default: −10dB = 20log10(0.3)) MIN_NN_SR float 1 0 rw Gain-floor for non-stationary noise suppression for ASR. [−inf .. 0] dB (default: −10dB = 20log10(0.3)) MIN_NS float 1 0 rw Gain-floor for stationary noise suppression. (default: −16dB = 20log10(0.15)) MIN_NS_SR float 1 0 suppression for ASR. (default: −16dB = 20log10(0.15)) NLAEC_MODE int 2 0 rw 1 rw Gain-floor for stationary noise [−inf .. 0] dB Non-Linear AEC training mode. 0 = OFF 1 = ON - phase 2 = ON - phase 2 NLATTENONOFF int 1 0 rw NONSTATNOISEONOFF int 1 0 rw NONSTATNOISEONOFF_SR for ASR. RT60 seconds RT60ONOFF SPEECHDETECTED [−inf .. 0] dB int 1 0 Non-Linear echo attenuation. 0 = OFF 1 = ON Non-stationary noise suppression. 0 = OFF 1 = ON rw Non-stationary noise suppression float 0.9 0.25 int 1 int 1 0 0 rw ro speech detected) ro 0 = OFF 1 = ON Current RT60 estimate in RT60 Estimation for AES. 0 = OFF 1 = ON Speech detection status. 0 = false (no 1 = true (speech detected) STATNOISEONOFF int 1 0 rw STATNOISEONOFF_SR int 1 0 rw TRANSIENTONOFF int 1 0 rw VOICEACTIVITY int 1 0 ro voice activity) activity) Stationary noise suppression. 0 = OFF 1 = ON Stationary noise suppression for ASR. 0 = OFF 1 = ON Transient echo suppression. 0 = OFF 1 = ON VAD voice activity status. 0 = false (no 1 = true (voice   Q2: ImportError: No module named usb.core A2: Run sudo pip install pyusb to install the pyusb. pi@raspberrypi:~/usb_4_mic_array $ sudo python tuning.py DOAANGLE 1 Traceback (most recent call last): File "tuning.py", line 5, in import usb.core 2 ImportError: No module named usb.core pi@raspberrypi:~/usb_4_mic_array $ sudo pip install pyusb 3 Collecting pyusb Downloading pyusb-1.0.2.tar.gz (54kB) 100% |████████████████████████████████| 61kB 101kB/s 4 Building wheels for collected packages: pyusb Running setup.py bdist_wheel for pyusb ... done 5 Stored in directory: 6 /root/.cache/pip/wheels/8b/7f/fe/baf08bc0dac02ba17f3c9120f5dd1cf74aec4c5446 3bc85cf9 7 Successfully built pyusb Installing collected packages: pyusb 8 Successfully installed pyusb-1.0.2 pi@raspberrypi:~/usb_4_mic_array $ sudo python tuning.py DOAANGLE 9 DOAANGLE: 180 1   0 1 1 1 2 1 3 1 4 1 5 1 6 1 7 Q3: Do you have the example for Raspberry alexa application? A3: Yes, we can connect the mic array v2.0 to raspberry usb port and follow Raspberry Pi Quick Start Guide with Script to do the voice interaction with alexa. Q4: Do you have the example for Mic array v2.1 with ROS system? A4: Yes, thanks for Yuki sharing the package for integrating ReSpeaker USB Mic Array with ROS (Robot Operating System) Middleware. Q5: How to enable 3.5mm audio port to receive the signal as well as usb port? A5: Please download the new firmware and burn the XMOS by following How to update firmware. Q6: #include "portaudio.h" Error when run "sudo pip install pyaudio". A6: Please run below command to solve the issue. 1 sudo apt-get install portaudio19-dev   Resource  [PDF] ReSpeaker USB Mic Array Dimension  https://github.com/SeeedDocument/ReSpeaker-USB-Mics/raw/master/res/dimension.pdf  [DWG] ReSpeaker USB Mic Array Case 3D Model  https://github.com/SeeedDocument/ReSpeaker-USB-Mics/raw/master/res/dimension.pdf  [PDF] XVF3000 Product Brief  https://github.com/SeeedDocument/ReSpeaker_Mic_Array_V2/raw/master/res/XVF30003100-product-brief_1.4.pdf   [PDF] XVF3000 Datasheet https://github.com/SeeedDocument/ReSpeaker_Mic_Array_V2/raw/master/res/XVF30003100-TQ128-Datasheet_1.0.pdf Tech Support Please submit any technical issue into our forum.                         http://wiki.seeedstudio.com/ReSpeaker‐USB‐Mic‐Array/2‐20‐20