diff --git a/macros/src/codegen/async_dispatchers.rs b/macros/src/codegen/async_dispatchers.rs
index 012bd61a36..a12ad325fc 100644
--- a/macros/src/codegen/async_dispatchers.rs
+++ b/macros/src/codegen/async_dispatchers.rs
@@ -44,16 +44,15 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
 
         for name in channel.tasks.iter() {
             let exec_name = util::internal_task_ident(name, "EXEC");
+            // TODO: Fix cfg
             // let task = &app.software_tasks[name];
             // let cfgs = &task.cfgs;
 
             stmts.push(quote!(
-                if #exec_name.check_and_clear_pending() {
-                    #exec_name.poll(|| {
-                        #exec_name.set_pending();
-                        #pend_interrupt
-                    });
-                }
+                #exec_name.poll(|| {
+                    #exec_name.set_pending();
+                    #pend_interrupt
+                });
             ));
         }
 
diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs
index 666bd0420a..f4c188a466 100644
--- a/macros/src/codegen/module.rs
+++ b/macros/src/codegen/module.rs
@@ -156,11 +156,8 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
             #[allow(non_snake_case)]
             #[doc(hidden)]
             pub fn #internal_spawn_ident(#(#input_args,)*) -> Result<(), #input_ty> {
-                if #exec_name.try_reserve() {
-                    // This unsafe is protected by `try_reserve`, see its documentation for details
-                    unsafe {
-                        #exec_name.spawn_unchecked(#name(#name::Context::new() #(,#input_untupled)*));
-                    }
+
+                if #exec_name.spawn(|| #name(unsafe { #name::Context::new() } #(,#input_untupled)*) ) {
 
                     #pend_interrupt
 
@@ -168,6 +165,7 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
                 } else {
                     Err(#input_tupled)
                 }
+
             }
         ));
 
diff --git a/src/export/executor.rs b/src/export/executor.rs
index 2f88eff968..e64cc43ec1 100644
--- a/src/export/executor.rs
+++ b/src/export/executor.rs
@@ -30,7 +30,7 @@ unsafe fn waker_drop(_: *const ()) {
 
 /// Executor for an async task.
 pub struct AsyncTaskExecutor<F: Future> {
-    // `task` is proteced by the `running` flag.
+    // `task` is protected by the `running` flag.
     task: UnsafeCell<MaybeUninit<F>>,
     running: AtomicBool,
     pending: AtomicBool,
@@ -40,6 +40,7 @@ unsafe impl<F: Future> Sync for AsyncTaskExecutor<F> {}
 
 impl<F: Future> AsyncTaskExecutor<F> {
     /// Create a new executor.
+    #[inline(always)]
     pub const fn new() -> Self {
         Self {
             task: UnsafeCell::new(MaybeUninit::uninit()),
@@ -49,45 +50,51 @@ impl<F: Future> AsyncTaskExecutor<F> {
     }
 
     /// Check if there is an active task in the executor.
+    #[inline(always)]
     pub fn is_running(&self) -> bool {
         self.running.load(Ordering::Relaxed)
     }
 
     /// Checks if a waker has pended the executor and simultaneously clears the flag.
-    pub fn check_and_clear_pending(&self) -> bool {
+    #[inline(always)]
+    fn check_and_clear_pending(&self) -> bool {
+        // Ordering::Acquire to enforce that update of task is visible to poll
         self.pending
-            .compare_exchange(true, false, Ordering::Relaxed, Ordering::Relaxed)
+            .compare_exchange(true, false, Ordering::Acquire, Ordering::Relaxed)
             .is_ok()
     }
 
     // Used by wakers to indicate that the executor needs to run.
+    #[inline(always)]
     pub fn set_pending(&self) {
         self.pending.store(true, Ordering::Release);
     }
 
-    /// Try to reserve the executor for a future.
-    /// Used in conjunction with `spawn_unchecked` to reserve the executor before spawning.
-    ///
-    /// This could have been joined with `spawn_unchecked` for a complete safe API, however the
-    /// codegen needs to see if the reserve fails so it can give back input parameters. If spawning
-    /// was done within the same call the input parameters would be lost and could not be returned.
-    pub fn try_reserve(&self) -> bool {
-        self.running
+    /// Spawn a future
+    #[inline(always)]
+    pub fn spawn(&self, future: impl Fn() -> F) -> bool {
+        // Try to reserve the executor for a future.
+        if self
+            .running
             .compare_exchange(false, true, Ordering::AcqRel, Ordering::Relaxed)
             .is_ok()
-    }
+        {
+            // This unsafe is protected by `running` being false and the atomic setting it to true.
+            unsafe {
+                self.task.get().write(MaybeUninit::new(future()));
+            }
+            self.set_pending();
 
-    /// Spawn a future, only valid to do after `try_reserve` succeeds.
-    pub unsafe fn spawn_unchecked(&self, future: F) {
-        debug_assert!(self.running.load(Ordering::Relaxed));
-
-        self.task.get().write(MaybeUninit::new(future));
-        self.set_pending();
+            true
+        } else {
+            false
+        }
     }
 
     /// Poll the future in the executor.
+    #[inline(always)]
     pub fn poll(&self, wake: fn()) {
-        if self.is_running() {
+        if self.is_running() && self.check_and_clear_pending() {
             let waker = unsafe { Waker::from_raw(RawWaker::new(wake as *const (), &WAKER_VTABLE)) };
             let mut cx = Context::from_waker(&waker);
             let future = unsafe { Pin::new_unchecked(&mut *(self.task.get() as *mut F)) };