diff --git a/src/lib.rs b/src/lib.rs
index 63b6b75abebade83e3911144d69f99603b4bf4dd..d02fbaca8fdfb3f67205b791112d365ab0524c07 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -1,5 +1,12 @@
 #![no_std]
 #![feature(strict_provenance)]
+#![deny(missing_docs)]
+#![deny(warnings)]
+#![deny(unused_import_braces)]
+#![deny(unused_results)]
+#![deny(trivial_casts)]
+#![deny(trivial_numeric_casts)]
+#![deny(unused_qualifications)]
 // don't want this to show up in pedantic for now
 #![allow(clippy::cast_possible_truncation)]
 #![allow(clippy::module_name_repetitions)]
diff --git a/src/mpu.rs b/src/mpu.rs
index 6463c3bd120598864fbd98995f678459b02f59df..39d6c5e8179f4b33424ba59ca48fc2649834aa48 100644
--- a/src/mpu.rs
+++ b/src/mpu.rs
@@ -1,4 +1,3 @@
-use alloc::format;
 use crate::mpu::config::DigitalLowPassFilter;
 use crate::mpu::error::Error;
 use crate::mpu::sensor::Mpu6050;
@@ -7,8 +6,6 @@ use crate::once_cell::OnceCell;
 use crate::twi::{TwiWrapper, TWI};
 use nb::Error::WouldBlock;
 use structs::{Accel, Gyro, Quaternion};
-use crate::led::Red;
-use crate::uart::send_bytes;
 
 #[allow(unused)]
 mod config;
@@ -117,15 +114,11 @@ pub fn read_dmp_bytes() -> nb::Result<Quaternion, Error<TwiWrapper>> {
         return Err(WouldBlock);
     }
 
-    send_bytes(&format!("LEN {len} ").as_bytes());
-
     // If we got mis-aligned, we skip a packet
     if len % 28 != 0 {
         let skip = len % 28;
         let mut buf = [0; 28];
 
-        let _ = Red.toggle();
-
         let _ = mpu.mpu.read_fifo(twi, &mut buf[..skip])?;
         return Err(WouldBlock);
     }
diff --git a/src/mpu/sensor.rs b/src/mpu/sensor.rs
index f5effef688f3d7e8c94b50f614463c5f7e8b890b..623ef616e2f97149a14f232d3c0d6c1257b1d943 100644
--- a/src/mpu/sensor.rs
+++ b/src/mpu/sensor.rs
@@ -217,17 +217,7 @@ where
         i2c: &mut I2c,
         buf: &'a mut [u8],
     ) -> Result<&'a [u8], Error<I2c>> {
-        let mut len = self.get_fifo_count(i2c)?;
-
-        if buf.len() < len {
-            len = buf.len();
-        }
-
-        if len == 0 {
-            Ok(&buf[0..0])
-        } else {
-            self.read_registers(i2c, Register::FifoRw, &mut buf[0..len])
-        }
+        self.read_registers(i2c, Register::FifoRw, &mut buf[..])
     }
 
     pub fn get_fifo_enabled(&mut self, i2c: &mut I2c) -> Result<Fifo, Error<I2c>> {