¿Cómo eliminar líneas blancas generadas por listados?

Question

Estoy teniendo exactamente el mismo problema queeste, pero el visor de PDF de texstudio no muestra el error, por lo que no me di cuenta hasta las 32 páginas del documento. Su solución realmente funciona (la mdframed, las otras no tienen ningún efecto en mi caso) pero no puedo recorrer manualmente 32 páginas en un documento formateando manualmente cada fragmento de código que tengo. Así que necesito una solución que se extienda por todo el documento (lo que probablemente implicará modificar el entorno de listados en el preámbulo).

Estoy en apuros, así que hice el MWE en 5 minutos, lo siento.

\documentclass{book}

\usepackage{listings}
\usepackage{color}

\lstset{
    frame=lines,
    rulecolor=\color{deepblue},
    framesep = 5pt,
    language=C,
    aboveskip=3mm,
    belowskip=3mm,
    showstringspaces=false,
    columns=flexible,
    basicstyle={\small\ttfamily\color{cyan}},
    numbers=none,
    %numberstyle=\small\color{green},
    keywordstyle=\color{orange},
    commentstyle=\color{grey},
    stringstyle=\color{mauve},
    breaklines=true,
    breakatwhitespace=true,
    backgroundcolor=\color{deepblue},
    tabsize=3,
    morekeywords={uint32_t},
    keywordsprefix=#
}

\lstdefinestyle{C-small}
{
    language=C,
    morekeywords={uint32_t},
    basicstyle={\fontsize{12}{12}\ttfamily\color{cyan}},
    commentstyle=\color{grey},
    keywordstyle=\color{orange},
}

\lstdefinestyle{C}
{
    language=C,
    morekeywords={uint32_t},
    keywordstyle=\color{orange},
}

\definecolor{orange}{rgb}{1,0.5,0}
\definecolor{deepblue}{rgb}{0, 0, 0.15}
\definecolor{grey}{rgb}{0.5,0.5,0.5}

\begin{document}

\begin{lstlisting}[style =C]
    uint32_t mailbox_message[22] __attribute__ ((aligned (16)));
    uint32_t index;

    void set_init_display_message()
    {
        index = 1;
        mailbox_message[index++] = 0;//request code

        mailbox_message[index++] = (uint32_t) SET_PHYSICAL_WIDTH_HEIGHT; //tag
        mailbox_message[index++] = 8;   //request size
        mailbox_message[index++] = 8;   //response size
        mailbox_message[index++] = physical_width;  //horizontal resolution of the monitor
        mailbox_message[index++] = physical_height; //vertical resolution of the monitor

        mailbox_message[index++] = (uint32_t) SET_VIRTUAL_WIDTH_HEIGHT; //tag
        mailbox_message[index++] = 8;   //rquest size
        mailbox_message[index++] = 8;   // response size
        mailbox_message[index++] = virtual_width;   //horizontal resolution of virtual screen
        mailbox_message[index++] = virtual_height;  //vertical resolution of virtual screen

        mailbox_message[index++] = (uint32_t) SET_DEPTH;    //tag
        mailbox_message[index++] = 4;   //request size
        mailbox_message[index++] = 4;   //response size
        mailbox_message[index++] = color_depth; //color depth of the frame buffer

        mailbox_message[index++] = (uint32_t) ALLOCATE; //tag
        mailbox_message[index++] = 8;   //request size
        mailbox_message[index++] = 8;   //response size
        mailbox_message[index++] = 16;  //alignment fb ptr returned here
        mailbox_message[index++] = 0;   //fb size returned here

        mailbox_message[index++] = END;//end tag

        mailbox_message[0] = index*sizeof(uint32_t);    //size of message
    }
\end{lstlisting}
\end{document}