diff --git a/addons/misra-test.c b/addons/misra-test.c
index d14ae222f..7eca926ac 100644
--- a/addons/misra-test.c
+++ b/addons/misra-test.c
@@ -4,6 +4,8 @@
 #include <stdarg.h> // 17.1
 #include "path\file.h" // 20.2
 #include /*abc*/ "file.h" // 20.3
+#include <setjmp.h> // 21.4
+#include <signal.h> // 21.5
 
 typedef unsigned char u8;
 
diff --git a/addons/misra.py b/addons/misra.py
index 3cecdde80..67d2a5773 100644
--- a/addons/misra.py
+++ b/addons/misra.py
@@ -645,6 +645,31 @@ def misra_21_3(data):
         if (token.str in ['malloc', 'calloc', 'realloc', 'free']) and token.next and token.next.str == '(':
             reportError(token, 21, 3)
 
+def misra_21_4(rawTokens):
+    linenr = -1
+    for token in rawTokens:
+        if token.str.startswith('/') or token.linenr == linenr:
+            continue
+        linenr = token.linenr
+        if not simpleMatch(token, '# include'):
+            continue
+        headerToken = token.next.next
+        if headerToken and headerToken.str == '<setjmp.h>':
+            reportError(token, 21, 4)
+
+def misra_21_5(rawTokens):
+    linenr = -1
+    for token in rawTokens:
+        if token.str.startswith('/') or token.linenr == linenr:
+            continue
+        linenr = token.linenr
+        if not simpleMatch(token, '# include'):
+            continue
+        headerToken = token.next.next
+        if headerToken and headerToken.str == '<signal.h>':
+            reportError(token, 21, 5)
+
+
 if '-verify' in sys.argv[1:]:
     VERIFY = True
 
@@ -717,6 +742,9 @@ for arg in sys.argv[1:]:
             misra_20_4(data.rawTokens)
             misra_20_5(data.rawTokens)
         misra_21_3(cfg)
+        if cfgNumber == 1:
+            misra_21_4(data.rawTokens)
+            misra_21_5(data.rawTokens)
 
     if VERIFY:
         for expected in VERIFY_EXPECTED: