Bump `cipher` to v0.5.1 (#536) #981

Job	Run time
test (1.85.0)	22s
test (stable)	22s
build (1.85.0, thumbv7em-none-eabi)	21s
build (stable, thumbv7em-none-eabi)	20s
build (1.85.0, wasm32-unknown-unknown)	22s
minimal-versions / minimal-versions	31s
build (stable, wasm32-unknown-unknown)	13s
	2m 31s

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