Allen Downey’s book Think DSP is available to read free in HTML or PDF forms and is a good overview of signal processing using the Python programming language. Allen has a whole series of books about programming Python on specific topics like statistics, algorithms, and more. I really enjoyed Think Stats, and skimming Think DSP it appears to be a quite nice intro to signal processing. If you’ve ever wondered how things like digital audio filters work or what you can do with an FFT this is a great resource to check out.
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