github: Replace deprecated actions-rs #229

Job	Run time
check-for-todos	2s
msrv	4m 49s
rustfmt	9s
clippy	14s
set-msrv	7s
test (1.63)	4m 19s
build (1.63, thumbv7em-none-eabi)	2m 48s
test (stable)	1m 25s
bench	37s
build (1.63, wasm32-unknown-unknown)	2m 58s
cross (1.63, aarch64-unknown-linux-gnu, default)	7m 18s
cross (stable, aarch64-unknown-linux-gnu, default)	4m 27s
build (stable, thumbv7em-none-eabi)	17s
build (stable, wasm32-unknown-unknown)	16s
	29m 46s

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