Hi everyone, I go directly to the problem.I am creating a library to use NXTCAM or Pixy cam (with mindsensors adapter) and making use of I2C to comunicate with this cameras.I am using also bcm2835 library for communications.To help you to understand, I just want to write in the correct register of the camera to start tracking, and then reading number of objects detected(for example)To do it, I first use set slave addres (it works, so the problem is not here), in order to stablish the camera as slave.Then i just use bcm2835_i2c_write function to start tracking. And finally I try to read register (read_register_rs function of bc2835) of objects detected (number 66 in decimal). The problem comes in this last step. I always get the value of 66, exactly the number of the register I want to read.To clear out how read_register_rs works, it first write the register wanted to be read, and then it returns back the content of that register. I also have to say that when I read device id, or software version, it works propertly.To sum up, I think that the problem comes directly when I want to read after writing the start track command and i2c bus gets stuck.I am glad you all listen to me.Hope your soon answer!!! :)Best regards.