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submodule: bump openthread from `5197402` to `d81c6fa` (#640) #1281

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Run time

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Job	Run time
arm-gcc-4	7m 57s
pretty	30s
arm-gcc-5	8m 5s
arm-gcc-6	8m 18s
arm-gcc-7	8m 2s
arm-gcc-9	8m 15s
	41m 7s