diff --git a/addons/misra.py b/addons/misra.py
index e3b3802e3..4ad437fdd 100755
--- a/addons/misra.py
+++ b/addons/misra.py
@@ -2832,14 +2832,41 @@ class MisraChecker:
         state = 0
         indent = 0
         tok1 = None
+        def tokAt(tok,i):
+            while i < 0 and tok:
+                tok = tok.previous
+                if tok.str.startswith('//') or tok.str.startswith('/*'):
+                    continue
+                i += 1
+            while i > 0 and tok:
+                tok = tok.next
+                if tok.str.startswith('//') or tok.str.startswith('/*'):
+                    continue
+                i -= 1
+            return tok
+
+        def strtokens(tok, i1, i2):
+            tok1 = tokAt(tok, i1)
+            tok2 = tokAt(tok, i2)
+            tok = tok1
+            s = ''
+            while tok != tok2:
+                if tok.str.startswith('//') or tok.str.startswith('/*'):
+                    tok = tok.next
+                    continue
+                s += ' ' + tok.str
+                tok = tok.next
+            s += ' ' + tok.str
+            return s[1:]
+
         for token in rawTokens:
             if token.str in ['if', 'for', 'while']:
-                if simpleMatch(token.previous, '# if'):
+                if strtokens(token,-1,0) == '# if':
                     continue
-                if simpleMatch(token.previous, "} while"):
+                if strtokens(token,-1,0) == "} while":
                     # is there a 'do { .. } while'?
-                    start = rawlink(token.previous)
-                    if start and simpleMatch(start.previous, 'do {'):
+                    start = rawlink(tokAt(token,-1))
+                    if start and strtokens(start, -1, 0) == 'do {':
                         continue
                 if state == 2:
                     self.reportError(tok1, 15, 6)
@@ -2847,9 +2874,9 @@ class MisraChecker:
                 indent = 0
                 tok1 = token
             elif token.str == 'else':
-                if simpleMatch(token.previous, '# else'):
+                if strtokens(token,-1,0) == '# else':
                     continue
-                if simpleMatch(token, 'else if'):
+                if strtokens(token,0,1) == 'else if':
                     continue
                 if state == 2:
                     self.reportError(tok1, 15, 6)
diff --git a/addons/test/misra/misra-test.c b/addons/test/misra/misra-test.c
index 66e29b724..573563c51 100644
--- a/addons/test/misra/misra-test.c
+++ b/addons/test/misra/misra-test.c
@@ -1414,6 +1414,16 @@ static void misra_15_6(void) {
   do {} while (x<0); // no-warning
 }
 
+static void misra_15_6_fp(void)
+{
+    uint8_t value = 0U;
+    do // Test
+    {
+        value++;
+    }
+    while (value < 2U);
+}
+
 #if defined(M_20_9) && M_20_9 > 1 // no-warning (#10380)
 #endif