Make the DSP work everywhere (#2621)

* Use DSP again

* 20 Hz

Co-authored-by: Willem Melching <willem.melching@gmail.com>

common/realtime.py

@@ -4,16 +4,21 @@ import os
 import time
 import multiprocessing
 
-from common.hardware import PC
+from common.hardware import PC, TICI
 from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
 
 
 # time step for each process
 DT_CTRL = 0.01  # controlsd
 DT_MDL = 0.05  # model
-DT_DMON = 0.1  # driver monitoring
 DT_TRML = 0.5  # thermald and manager
 
+# driver monitoring
+if TICI:
+  DT_DMON = 0.05
+else:
+  DT_DMON = 0.1
+
 
 class Priority:
   MIN_REALTIME = 52 # highest android process priority is 51