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I've looked everywhere however have no idea on how to write a python program to listen to PN532 via I2C? Only SPI libraries however I cannot use that.

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You can use Setting up a PN532 NFC module on a Raspberry Pi using I2C to set up PN532 on Raspberry Pi. Then, you can see the link shared by Steve Robillard, NFC on RaspberryPi with PN532, py532lib and i2c, to read one tag using the PN532 via I2C.

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