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submodule: bump openthread from `5f8f05c` to `21ac9f5` #1154

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Run time

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Job	Run time
pretty	30s
arm-gcc-4	13m 24s
arm-gcc-5	14m 54s
arm-gcc-6	14m 33s
arm-gcc-7	11m 4s
arm-gcc-9	11m 37s
	1h 6m 2s