As you may know, this error has to do with the matching of specifications, if you are using PN532 on both ends please clarify to us which board are you using and if the board does work detecting any PICC.
This is for the sake of discard that the antenna and circuit of the antenna are working properly due to the possibility of getting an Invalid RF received Frame at initiating the transmission.
Please check the PN532 Design Kit for the board specification design.
Also please rectify to us if you are using the SDK P2P test so we can have an entry point to assist you.
Best Regards,
Fabian