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Fixes #70. Upgrades MSRV from 1.51 to 1.56, matching bitvec's, upgrades bitvec to "1".
Follow-up to #72, which is hopefully merged and a patch version released first. There shouldn't be any major conflicts, but the workflow will need to be fixed for
the nightly doc lint job's rust version (#72 changed it to 1.51, needs to be 1.56 now).. ended up doing that in this branch as well, latest nightly rustdoc has some issues.