diff --git a/libnfc/drivers/pn532_i2c.c b/libnfc/drivers/pn532_i2c.c
index c091474..b618a81 100644
--- a/libnfc/drivers/pn532_i2c.c
+++ b/libnfc/drivers/pn532_i2c.c
@@ -100,6 +100,70 @@ static size_t pn532_i2c_scan(const nfc_context *context, nfc_connstring connstri
 
 #define DRIVER_DATA(pnd) ((struct pn532_i2c_data*)(pnd->driver_data))
 
+/*
+ * Bus free time (in ms) between a STOP condition and START condition. See
+ * tBuf in the PN532 data sheet, section 12.25: Timing for the I2C interface,
+ * table 320. I2C timing specification, page 211, rev. 3.2 - 2007-12-07.
+ */
+#define PN532_BUS_FREE_TIME 1.3
+static struct timespec __transaction_stop;
+
+/**
+ * @brief Wrapper around i2c_read to ensure proper timing by respecting the
+ * 	  minimal free bus time between a STOP condition and a START condition.
+ *
+ * @note This is not thread safe, but since libnfc is single threaded
+ * 	 this should be okay.
+ *
+ * @param id I2C device
+ * @param buf pointer on buffer used to store data
+ * @param len length of the buffer
+ * @return length (in bytes) of read data, or driver error code (negative value)
+ */
+static ssize_t pn532_i2c_read(const i2c_device id,
+			      uint8_t *buf, const size_t len)
+{
+	struct timespec transaction_start, bus_free_time = { 0 };
+	ssize_t ret;
+
+	clock_gettime(CLOCK_MONOTONIC, &transaction_start);
+	bus_free_time.tv_nsec = (PN532_BUS_FREE_TIME * 1000 * 1000) -
+				(transaction_start.tv_nsec - __transaction_stop.tv_nsec);
+	nanosleep(&bus_free_time, NULL);
+
+	ret = i2c_read(id, buf, len);
+	clock_gettime(CLOCK_MONOTONIC, &__transaction_stop);
+	return ret;
+}
+
+/**
+ * @brief Wrapper around i2c_write to ensure proper timing by respecting the
+ * 	  minimal free bus time between a STOP condition and a START condition.
+ *
+ * @note This is not thread safe, but since libnfc is single threaded
+ * 	 this should be okay.
+ *
+ * @param id I2C device
+ * @param buf pointer on buffer containing data
+ * @param len length of the buffer
+ * @return NFC_SUCCESS on success, otherwise driver error code
+ */
+static ssize_t pn532_i2c_write(const i2c_device id,
+			       const uint8_t *buf, const size_t len)
+{
+	struct timespec transaction_start, bus_free_time = { 0 };
+	ssize_t ret;
+
+	clock_gettime(CLOCK_MONOTONIC, &transaction_start);
+	bus_free_time.tv_nsec = (PN532_BUS_FREE_TIME * 1000 * 1000) -
+				(transaction_start.tv_nsec - __transaction_stop.tv_nsec);
+	nanosleep(&bus_free_time, NULL);
+
+	ret = i2c_write(id, buf, len);
+	clock_gettime(CLOCK_MONOTONIC, &__transaction_stop);
+	return ret;
+}
+
 /**
  * @brief Scan all available I2C buses to find PN532 devices.
  *
@@ -347,7 +411,7 @@ pn532_i2c_send(nfc_device *pnd, const uint8_t *pbtData, const size_t szData, int
     return pnd->last_error;
   }
 
-  res = i2c_write(DRIVER_DATA(pnd)->dev, abtFrame, szFrame);
+  res = pn532_i2c_write(DRIVER_DATA(pnd)->dev, abtFrame, szFrame);
 
   if (res < 0) {
     log_put(LOG_GROUP, LOG_CATEGORY, NFC_LOG_PRIORITY_ERROR, "%s", "Unable to transmit data. (TX)");
@@ -404,9 +468,7 @@ pn532_i2c_wait_rdyframe(nfc_device *pnd, uint8_t *pbtData, const size_t szDataLe
   }
 
   do {
-    // Wait a little bit before reading
-    nanosleep(&rdyDelay, (struct timespec *) NULL);
-    int recCount = i2c_read(DRIVER_DATA(pnd)->dev, i2cRx, szDataLen + 1);
+    int recCount = pn532_i2c_read(DRIVER_DATA(pnd)->dev, i2cRx, szDataLen + 1);
 
     if (DRIVER_DATA(pnd)->abort_flag) {
       // Reset abort flag
@@ -572,7 +634,7 @@ error:
 int
 pn532_i2c_ack(nfc_device *pnd)
 {
-  return i2c_write(DRIVER_DATA(pnd)->dev, pn53x_ack_frame, sizeof(pn53x_ack_frame));
+  return pn532_i2c_write(DRIVER_DATA(pnd)->dev, pn53x_ack_frame, sizeof(pn53x_ack_frame));
 }
 
 /**