diff --git a/addons/misra.py b/addons/misra.py
index 734769d74..06b0db56e 100755
--- a/addons/misra.py
+++ b/addons/misra.py
@@ -2696,7 +2696,27 @@ class MisraChecker:
             if not simpleMatch(tok, '} else'):
                 self.reportError(tok, 15, 7)
 
-    # TODO add 16.1 rule
+    def misra_16_1(self, cfg):
+        for scope in cfg.scopes:
+            if scope.type != 'Switch':
+                continue
+            in_case_or_default = False
+            tok = scope.bodyStart.next
+            while tok != scope.bodyEnd:
+                if not in_case_or_default:
+                    if tok.str not in ('case', 'default'):
+                        self.reportError(tok, 16, 1)
+                    else:
+                        in_case_or_default = True
+                else:
+                    if simpleMatch(tok, 'break ;'):
+                        in_case_or_default = False
+                        tok = tok.next
+                if tok.str == '{':
+                    tok = tok.link
+                    if tok.scope.type == 'Unconditional' and simpleMatch(tok.previous.previous, 'break ;'):
+                        in_case_or_default = False
+                tok = tok.next
 
     def misra_16_2(self, data):
         for token in data.tokenlist:
@@ -3749,6 +3769,7 @@ class MisraChecker:
             if cfgNumber == 0:
                 self.executeCheck(1506, self.misra_15_6, data.rawTokens)
             self.executeCheck(1507, self.misra_15_7, cfg)
+            self.executeCheck(1601, self.misra_16_1, cfg)
             self.executeCheck(1602, self.misra_16_2, cfg)
             if cfgNumber == 0:
                 self.executeCheck(1603, self.misra_16_3, data.rawTokens)
diff --git a/addons/test/misra/misra-test.c b/addons/test/misra/misra-test.c
index fe02fb5f3..ea82f8de6 100644
--- a/addons/test/misra/misra-test.c
+++ b/addons/test/misra/misra-test.c
@@ -140,6 +140,7 @@ static void foo(void)
         }
       } while(misra_5_2_func2()); //14.4
     }
+    break;
   }
 }
 
@@ -229,6 +230,7 @@ static void misra_5_5_func1(void)
         }
       } while(misra_5_5_func2()); //14.4
     }
+    break;
   }
 }
 
@@ -1246,6 +1248,17 @@ static void misra_15_7(void) {
   if (a==2) {} else { if (b==4) {} } // no-warning
 }
 
+static void misra_16_1(int32_t i) {
+  switch (i) {
+    int8_t x; // 16.1
+    default: // 16.3 16.5
+      break;
+    if (i != 18) {} // 16.1
+    case 1: // 16.3
+      break;
+  }
+}
+
 static void misra_16_2(void) {
   switch (x) {
     default: