I hooked up an arduino variant (nodemcu) to a pn532 rfid module setup in i2c mode. The module has three modes, the remaining two are spi and hsu. I've used the 4 pins labeled for i2c.
It's important to note other devices are working correctly. An LCD display turns out the i2c address right away.
The error I'm encountering is the scanner code is going through all addresses up to 0x66 and then doing a stack dump. Then a soft reset on the unit and the cycle restarts.
Post your code.
Most likely that's where the problem is: iyt sounds like you're blocking too long, not allowing the background processes to run. Add yield() or delay(0) statements at strategic places.