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Links that describe the problem and discuss workarounds etc:
- https://www.advamation.com/knowhow/raspberrypi/rpi-i2c-bug.html
- https://forums.raspberrypi.com/viewtopic.php?f=44&t=13771
- https://github.com/raspberrypi/linux/issues/254
- https://github.com/raspberrypi/linux/issues/4884
No universal work-around seems to be available. One option is to use a software I2C implementation instead of the Broadcom HW I2C. Availability of, and how to setup, such a software I2C driver differs between operating system used on the RPi.
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