diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
index b9c1dd9..fb7e04c 100644
--- a/CONTRIBUTORS.md
+++ b/CONTRIBUTORS.md
@@ -9,3 +9,4 @@ Many thanks to everyone who contributed to this project:
 - clydebarrow (https://github.com/clydebarrow)
 - myfreeweb (https://github.com/myfreeweb)
 - cleitonbueno (https://github.com/cleitonbueno)
+- idaniel86 (https://github.com/idaniel86)
diff --git a/README.rst b/README.rst
index 2941647..54b0976 100644
--- a/README.rst
+++ b/README.rst
@@ -126,6 +126,8 @@ Changelog
 ---------
 Beacontools follows the `semantic versioning <https://semver.org/>`__ scheme.
 
+* 2.1.0
+    * Added support for extended BLE commands for devices using HCI >= 5.0 (Linux only, thanks to `idaniel86 <https://github.com/idaniel86>`__)
 * 2.0.2
     * Improved prefiltering of packets, fixes #48
 * 2.0.1
diff --git a/beacontools/backend/freebsd.py b/beacontools/backend/freebsd.py
index 497ff8b..e8df94c 100644
--- a/beacontools/backend/freebsd.py
+++ b/beacontools/backend/freebsd.py
@@ -55,3 +55,7 @@ def send_cmd(sock, group_field, command_field, data):
     """Send hci command to device."""
     opcode = (((group_field & 0x3f) << 10) | (command_field & 0x3ff))
     sock.send(struct.pack('<BHB', 1, opcode, len(data)) + data)
+
+def send_req(_socket, _group_field, _command_field, _event, _rlen, _params, _timeout):
+    """Support for HCI 5 has not been implemented yet for FreeBSD, pull requests are wellcome"""
+    raise NotImplementedError("send_req has not been implemented yet for FreeBSD")
diff --git a/beacontools/backend/linux.py b/beacontools/backend/linux.py
index b509547..3e77682 100644
--- a/beacontools/backend/linux.py
+++ b/beacontools/backend/linux.py
@@ -17,3 +17,7 @@ def open_dev(bt_device_id):
 def send_cmd(socket, group_field, command_field, data):
     """Send hci command to device."""
     return bluez.hci_send_cmd(socket, group_field, command_field, data)
+
+def send_req(socket, group_field, command_field, event, rlen, params, timeout):
+    """Send hci request to device."""
+    return bluez.hci_send_req(socket, group_field, command_field, event, rlen, params, timeout)
diff --git a/beacontools/const.py b/beacontools/const.py
index 396d0d7..d2193bf 100644
--- a/beacontools/const.py
+++ b/beacontools/const.py
@@ -41,6 +41,12 @@ class BluetoothAddressType(IntEnum):
 OCF_LE_SET_SCAN_PARAMETERS = 0x000B
 OCF_LE_SET_SCAN_ENABLE = 0x000C
 EVT_LE_ADVERTISING_REPORT = 0x02
+OCF_LE_SET_EXT_SCAN_PARAMETERS = 0x0041
+OCF_LE_SET_EXT_SCAN_ENABLE = 0x0042
+EVT_LE_EXT_ADVERTISING_REPORT = 0x0D
+OGF_INFO_PARAM = 0x04
+OCF_READ_LOCAL_VERSION = 0x01
+EVT_CMD_COMPLETE = 0x0E
 
 # for Generic Access Profile parsing
 FLAGS_DATA_TYPE = 0x01
diff --git a/beacontools/scanner.py b/beacontools/scanner.py
index a366fdb..d1fa9a0 100644
--- a/beacontools/scanner.py
+++ b/beacontools/scanner.py
@@ -3,6 +3,8 @@
 import struct
 import threading
 from importlib import import_module
+from enum import IntEnum
+from construct import Struct, Byte, Bytes, GreedyRange, ConstructError
 
 from ahocorapy.keywordtree import KeywordTree
 
@@ -13,7 +15,10 @@
                     LE_META_EVENT, MANUFACTURER_SPECIFIC_DATA_TYPE,
                     MS_FRACTION_DIVIDER, OCF_LE_SET_SCAN_ENABLE,
                     OCF_LE_SET_SCAN_PARAMETERS, OGF_LE_CTL,
-                    BluetoothAddressType, ScanFilter, ScannerMode, ScanType)
+                    BluetoothAddressType, ScanFilter, ScannerMode, ScanType,
+                    OCF_LE_SET_EXT_SCAN_PARAMETERS, OCF_LE_SET_EXT_SCAN_ENABLE,
+                    EVT_LE_EXT_ADVERTISING_REPORT, OGF_INFO_PARAM,
+                    OCF_READ_LOCAL_VERSION, EVT_CMD_COMPLETE)
 from .device_filters import BtAddrFilter, DeviceFilter
 from .packet_types import (EddystoneEIDFrame, EddystoneEncryptedTLMFrame,
                            EddystoneTLMFrame, EddystoneUIDFrame,
@@ -22,10 +27,30 @@
 from .utils import (bin_to_int, bt_addr_to_string, get_mode, is_one_of,
                     is_packet_type, to_int)
 
+
+class HCIVersion(IntEnum):
+    """HCI version enumeration
+
+    https://www.bluetooth.com/specifications/assigned-numbers/host-controller-interface/
+    """
+    BT_CORE_SPEC_1_0 = 0
+    BT_CODE_SPEC_1_1 = 1
+    BT_CODE_SPEC_1_2 = 2
+    BT_CORE_SPEC_2_0 = 3
+    BT_CORE_SPEC_2_1 = 4
+    BT_CORE_SPEC_3_0 = 5
+    BT_CORE_SPEC_4_0 = 6
+    BT_CORE_SPEC_4_1 = 7
+    BT_CORE_SPEC_4_2 = 8
+    BT_CORE_SPEC_5_0 = 9
+    BT_CORE_SPEC_5_1 = 10
+    BT_CORE_SPEC_5_2 = 11
+
+
 _LOGGER = logging.getLogger(__name__)
 _LOGGER.setLevel(logging.DEBUG)
 
-# pylint: disable=no-member,too-many-arguments
+# pylint: disable=no-member
 
 
 class BeaconScanner(object):
@@ -95,6 +120,8 @@ def __init__(self, callback, bt_device_id, device_filter, packet_filter, scan_pa
         self.eddystone_mappings = []
         # parameters to pass to bt device
         self.scan_parameters = scan_parameters
+        # hci version
+        self.hci_version = HCIVersion.BT_CORE_SPEC_1_0
 
         # construct an aho-corasick search tree for efficient prefiltering
         service_uuid_prefix = b"\x03\x03"
@@ -116,6 +143,7 @@ def run(self):
         """Continously scan for BLE advertisements."""
         self.socket = self.backend.open_dev(self.bt_device_id)
 
+        self.hci_version = self.get_hci_version()
         self.set_scan_parameters(**self.scan_parameters)
         self.toggle_scan(True)
 
@@ -123,21 +151,44 @@ def run(self):
             pkt = self.socket.recv(255)
             event = to_int(pkt[1])
             subevent = to_int(pkt[3])
-            if event == LE_META_EVENT and subevent == EVT_LE_ADVERTISING_REPORT:
+            if event == LE_META_EVENT and subevent in [EVT_LE_ADVERTISING_REPORT, EVT_LE_EXT_ADVERTISING_REPORT]:
                 # we have an BLE advertisement
                 self.process_packet(pkt)
         self.socket.close()
 
+    def get_hci_version(self):
+        """Gets the HCI version"""
+        local_version = Struct(
+            "status" / Byte,
+            "hci_version" / Byte,
+            "hci_revision" / Bytes(2),
+            "lmp_version" / Byte,
+            "manufacturer_name" / Bytes(2),
+            "lmp_subversion" / Bytes(2),
+        )
+
+        try:
+            resp = self.backend.send_req(self.socket, OGF_INFO_PARAM, OCF_READ_LOCAL_VERSION,
+                                         EVT_CMD_COMPLETE, local_version.sizeof(), bytes(), 0)
+            return HCIVersion(GreedyRange(local_version).parse(resp)[0]["hci_version"])
+        except (ConstructError, NotImplementedError):
+            return HCIVersion.BT_CORE_SPEC_1_0
+
     def set_scan_parameters(self, scan_type=ScanType.ACTIVE, interval_ms=10, window_ms=10,
                             address_type=BluetoothAddressType.RANDOM, filter_type=ScanFilter.ALL):
-        """"sets the le scan parameters
+        """"Sets the le scan parameters
+
+        For extended set scan parameters command additional parameter scanning PHYs has to be provided.
+        The parameter indicates the PHY(s) on which the advertising packets should be received on the
+        primary advertising physical channel. For further information have a look on BT Core 5.1 Specification,
+        page 1439 ( LE Set Extended Scan Parameters command).
 
         Args:
             scan_type: ScanType.(PASSIVE|ACTIVE)
-            interval: ms (as float) between scans (valid range 2.5ms - 10240ms)
+            interval: ms (as float) between scans (valid range 2.5ms - 10240ms or 40.95s for extended version)
                 ..note:: when interval and window are equal, the scan
                     runs continuos
-            window: ms (as float) scan duration (valid range 2.5ms - 10240ms)
+            window: ms (as float) scan duration (valid range 2.5ms - 10240ms or 40.95s for extended version)
             address_type: Bluetooth address type BluetoothAddressType.(PUBLIC|RANDOM)
                 * PUBLIC = use device MAC address
                 * RANDOM = generate a random MAC address and use that
@@ -148,48 +199,77 @@ def set_scan_parameters(self, scan_type=ScanType.ACTIVE, interval_ms=10, window_
         Raises:
             ValueError: A value had an unexpected format or was not in range
         """
+        max_interval = (0x4000 if self.hci_version < HCIVersion.BT_CORE_SPEC_5_0 else 0xFFFF)
         interval_fractions = interval_ms / MS_FRACTION_DIVIDER
-        if interval_fractions < 0x0004 or interval_fractions > 0x4000:
+        if interval_fractions < 0x0004 or interval_fractions > max_interval:
             raise ValueError(
-                "Invalid interval given {}, must be in range of 2.5ms to 10240ms!".format(
-                    interval_fractions))
+                "Invalid interval given {}, must be in range of 2.5ms to {}ms!".format(
+                    interval_fractions, max_interval * MS_FRACTION_DIVIDER))
         window_fractions = window_ms / MS_FRACTION_DIVIDER
-        if window_fractions < 0x0004 or window_fractions > 0x4000:
+        if window_fractions < 0x0004 or window_fractions > max_interval:
             raise ValueError(
-                "Invalid window given {}, must be in range of 2.5ms to 10240ms!".format(
-                    window_fractions))
+                "Invalid window given {}, must be in range of 2.5ms to {}ms!".format(
+                    window_fractions, max_interval * MS_FRACTION_DIVIDER))
 
         interval_fractions, window_fractions = int(interval_fractions), int(window_fractions)
 
-        scan_parameter_pkg = struct.pack(
-            "<BHHBB",
-            scan_type,
-            interval_fractions,
-            window_fractions,
-            address_type,
-            filter_type)
-        self.backend.send_cmd(self.socket, OGF_LE_CTL, OCF_LE_SET_SCAN_PARAMETERS, scan_parameter_pkg)
+        if self.hci_version < HCIVersion.BT_CORE_SPEC_5_0:
+            command_field = OCF_LE_SET_SCAN_PARAMETERS
+            scan_parameter_pkg = struct.pack(
+                "<BHHBB",
+                scan_type,
+                interval_fractions,
+                window_fractions,
+                address_type,
+                filter_type)
+        else:
+            command_field = OCF_LE_SET_EXT_SCAN_PARAMETERS
+            scan_parameter_pkg = struct.pack(
+                "<BBBBHH",
+                address_type,
+                filter_type,
+                1,  # scan advertisements on the LE 1M PHY
+                scan_type,
+                interval_fractions,
+                window_fractions)
+
+        self.backend.send_cmd(self.socket, OGF_LE_CTL, command_field, scan_parameter_pkg)
 
     def toggle_scan(self, enable, filter_duplicates=False):
         """Enables or disables BLE scanning
 
+        For extended set scan enable command additional parameters duration and period have
+        to be provided. When both are zero, the controller shall continue scanning until
+        scanning is disabled. For non-zero values have a look on BT Core 5.1 Specification,
+        page 1442 (LE Set Extended Scan Enable command).
+
         Args:
             enable: boolean value to enable (True) or disable (False) scanner
             filter_duplicates: boolean value to enable/disable filter, that
                 omits duplicated packets"""
-        command = struct.pack("BB", enable, filter_duplicates)
-        self.backend.send_cmd(self.socket, OGF_LE_CTL, OCF_LE_SET_SCAN_ENABLE, command)
+        if self.hci_version < HCIVersion.BT_CORE_SPEC_5_0:
+            command_field = OCF_LE_SET_SCAN_ENABLE
+            command = struct.pack("BB", enable, filter_duplicates)
+        else:
+            command_field = OCF_LE_SET_EXT_SCAN_ENABLE
+            command = struct.pack("<BBHH", enable, filter_duplicates,
+                                  0,  # duration
+                                  0   # period
+                                  )
+
+        self.backend.send_cmd(self.socket, OGF_LE_CTL, command_field, command)
 
     def process_packet(self, pkt):
         """Parse the packet and call callback if one of the filters matches."""
-        payload = pkt[14:-1]
+        payload = pkt[14:-1] if self.hci_version < HCIVersion.BT_CORE_SPEC_5_0 else pkt[29:]
+
         # check if this could be a valid packet before parsing
         # this reduces the CPU load significantly
         if not self.kwtree.search(payload):
             return
 
         bt_addr = bt_addr_to_string(pkt[7:13])
-        rssi = bin_to_int(pkt[-1])
+        rssi = bin_to_int(pkt[-1] if self.hci_version < HCIVersion.BT_CORE_SPEC_5_0 else pkt[18])
         # strip bluetooth address and parse packet
         packet = parse_packet(payload)
 
diff --git a/pylintrc b/pylintrc
index aa1ad37..9740e75 100644
--- a/pylintrc
+++ b/pylintrc
@@ -1,6 +1,10 @@
 [MASTER]
 reports=no
 
-disable=cyclic-import,too-many-instance-attributes,too-few-public-methods,too-many-branches,locally-disabled,fixme,too-many-boolean-expressions,no-else-return,len-as-condition,inconsistent-return-statements,useless-object-inheritance
+disable=cyclic-import,too-many-instance-attributes,
+    too-few-public-methods,too-many-branches,locally-disabled,
+    fixme,too-many-boolean-expressions,no-else-return,
+    len-as-condition,inconsistent-return-statements,
+    useless-object-inheritance,too-many-arguments
 
 max-line-length=120
diff --git a/setup.py b/setup.py
index 529e08b..819ff09 100644
--- a/setup.py
+++ b/setup.py
@@ -13,7 +13,7 @@
 setup(
     name='beacontools',
 
-    version='2.0.2',
+    version='2.1.0',
 
     description='A Python library for working with various types of Bluetooth LE Beacons.',
     long_description=long_description,
@@ -61,14 +61,14 @@
     # for example:
     # $ pip install -e .[dev,test]
     extras_require={
-        'scan': ['PyBluez==0.22'] if sys.platform.startswith("linux") else [],
+        'scan': ['PyBluez==0.23'] if sys.platform.startswith("linux") else [],
         'dev': ['check-manifest'],
         'test': [
             'coveralls~=2.1',
             'pytest~=6.0',
             'pytest-cov~=2.10',
             'mock~=4.0',
-            'check-manifest==0.42',
+            'check-manifest',
             'pylint',
             'readme_renderer',
             'docutils'