They were lecture notes for a student-led 1-credit audio programming course that I taught in the spring this year, but it's now a course for everyone. Some sections are still in revision, but the main contents are mostly complete.
It's probably more low level and UNIX-centric than most of the audio programming tutorials you can find, so don't expect to learn how to make an audio plugin using JUCE or how to make fancy GUIs etc. But maybe this can be a good thing.
caveats: 1. you need to know basic C and UNIX shell utilities 2. it contains math, but at most calculus level