diff --git a/macros/src/codegen.rs b/macros/src/codegen.rs
index 618d9f3a68..6460afec1d 100644
--- a/macros/src/codegen.rs
+++ b/macros/src/codegen.rs
@@ -18,7 +18,7 @@ mod post_init;
 mod pre_init;
 mod shared_resources;
 mod shared_resources_struct;
-// mod software_tasks;
+mod software_tasks;
 // mod timer_queue;
 mod util;
 
@@ -92,6 +92,9 @@ pub fn app(app: &App, analysis: &Analysis) -> TokenStream2 {
     let (mod_app_hardware_tasks, root_hardware_tasks, user_hardware_tasks) =
         hardware_tasks::codegen(app, analysis);
 
+    let (mod_app_software_tasks, root_software_tasks, user_software_tasks) =
+        software_tasks::codegen(app, analysis);
+
     let mod_app_async_dispatchers = async_dispatchers::codegen(app, analysis);
     let user_imports = &app.user_imports;
     let user_code = &app.user_code;
@@ -116,6 +119,8 @@ pub fn app(app: &App, analysis: &Analysis) -> TokenStream2 {
 
             #(#user_hardware_tasks)*
 
+            #(#user_software_tasks)*
+
             #(#root)*
 
             #mod_shared_resources
@@ -124,6 +129,8 @@ pub fn app(app: &App, analysis: &Analysis) -> TokenStream2 {
 
             #(#root_hardware_tasks)*
 
+            #(#root_software_tasks)*
+
             /// app module
             #(#mod_app)*
 
@@ -133,6 +140,8 @@ pub fn app(app: &App, analysis: &Analysis) -> TokenStream2 {
 
             #(#mod_app_hardware_tasks)*
 
+            #(#mod_app_software_tasks)*
+
             #(#mod_app_async_dispatchers)*
 
             #(#mains)*
diff --git a/macros/src/codegen/software_tasks.rs b/macros/src/codegen/software_tasks.rs
new file mode 100644
index 0000000000..b2b468ca9a
--- /dev/null
+++ b/macros/src/codegen/software_tasks.rs
@@ -0,0 +1,101 @@
+use crate::syntax::{ast::App, Context};
+use crate::{
+    analyze::Analysis,
+    codegen::{local_resources_struct, module, shared_resources_struct, util},
+};
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+
+pub fn codegen(
+    app: &App,
+    analysis: &Analysis,
+) -> (
+    // mod_app_software_tasks -- free queues, buffers and `${task}Resources` constructors
+    Vec<TokenStream2>,
+    // root_software_tasks -- items that must be placed in the root of the crate:
+    // - `${task}Locals` structs
+    // - `${task}Resources` structs
+    // - `${task}` modules
+    Vec<TokenStream2>,
+    // user_software_tasks -- the `#[task]` functions written by the user
+    Vec<TokenStream2>,
+) {
+    let mut mod_app = vec![];
+    let mut root = vec![];
+    let mut user_tasks = vec![];
+
+    // Any task
+    for (name, task) in app.software_tasks.iter() {
+        let executor_ident = util::executor_run_ident(name);
+        mod_app.push(quote!(
+            #[allow(non_camel_case_types)]
+            #[allow(non_upper_case_globals)]
+            #[doc(hidden)]
+            static #executor_ident: core::sync::atomic::AtomicBool =
+                core::sync::atomic::AtomicBool::new(false);
+        ));
+
+        // `${task}Resources`
+        let mut shared_needs_lt = false;
+        let mut local_needs_lt = false;
+
+        // `${task}Locals`
+        if !task.args.local_resources.is_empty() {
+            let (item, constructor) = local_resources_struct::codegen(
+                Context::SoftwareTask(name),
+                &mut local_needs_lt,
+                app,
+            );
+
+            root.push(item);
+
+            mod_app.push(constructor);
+        }
+
+        if !task.args.shared_resources.is_empty() {
+            let (item, constructor) = shared_resources_struct::codegen(
+                Context::SoftwareTask(name),
+                &mut shared_needs_lt,
+                app,
+            );
+
+            root.push(item);
+
+            mod_app.push(constructor);
+        }
+
+        if !&task.is_extern {
+            let context = &task.context;
+            let attrs = &task.attrs;
+            let cfgs = &task.cfgs;
+            let stmts = &task.stmts;
+            let context_lifetime = if shared_needs_lt || local_needs_lt {
+                quote!(<'static>)
+            } else {
+                quote!()
+            };
+
+            user_tasks.push(quote!(
+                #(#attrs)*
+                #(#cfgs)*
+                #[allow(non_snake_case)]
+                async fn #name(#context: #name::Context #context_lifetime) {
+                    use rtic::Mutex as _;
+                    use rtic::mutex::prelude::*;
+
+                    #(#stmts)*
+                }
+            ));
+        }
+
+        root.push(module::codegen(
+            Context::SoftwareTask(name),
+            shared_needs_lt,
+            local_needs_lt,
+            app,
+            analysis,
+        ));
+    }
+
+    (mod_app, root, user_tasks)
+}