diff --git a/CHANGELOG.md b/CHANGELOG.md
index cbbc9c4b0a..9432cab7bd 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,7 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 
 ### Added
 
+- CFG: Support #[cfg] on HW task, cleanup for SW tasks
 - CFG: Slightly improved support for #[cfg] on Monotonics
 - CI: Check examples also for thumbv8.{base,main}
 - Allow custom `link_section` attributes for late resources
diff --git a/examples/cfg-whole-task.rs b/examples/cfg-whole-task.rs
index b5b978312e..17f31f4ebb 100644
--- a/examples/cfg-whole-task.rs
+++ b/examples/cfg-whole-task.rs
@@ -82,6 +82,19 @@ mod app {
         // ..
     }
 
+    // The whole task should disappear,
+    // currently still present in the Tasks enum
+    #[cfg(never)]
+    #[task(binds = UART1, shared = [count])]
+    fn foo3(mut _cx: foo3::Context) {
+        #[cfg(debug_assertions)]
+        {
+            _cx.shared.count.lock(|count| *count += 10);
+
+            log::spawn(_cx.shared.count.lock(|count| *count)).unwrap();
+        }
+    }
+
     #[cfg(debug_assertions)]
     #[task(capacity = 2)]
     fn log(_: log::Context, n: u32) {
diff --git a/macros/src/codegen/assertions.rs b/macros/src/codegen/assertions.rs
index 66e5409504..3e0ad61c9b 100644
--- a/macros/src/codegen/assertions.rs
+++ b/macros/src/codegen/assertions.rs
@@ -29,7 +29,9 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
         .filter_map(|(_, task)| {
             if !util::is_exception(&task.args.binds) {
                 let interrupt_name = &task.args.binds;
+                let cfgs = &task.cfgs;
                 Some(quote!(
+                    #(#cfgs)*
                     if (#device::Interrupt::#interrupt_name as usize) >= (#chunks_name * 32) {
                         ::core::panic!("An interrupt out of range is used while in armv6 or armv8m.base");
                     }
diff --git a/macros/src/codegen/hardware_tasks.rs b/macros/src/codegen/hardware_tasks.rs
index 780cc7e3cc..b3f05d2af6 100644
--- a/macros/src/codegen/hardware_tasks.rs
+++ b/macros/src/codegen/hardware_tasks.rs
@@ -93,11 +93,13 @@ pub fn codegen(
         let user_hardware_task_doc = &format!(" User HW task: {name}");
         if !task.is_extern {
             let attrs = &task.attrs;
+            let cfgs = &task.cfgs;
             let context = &task.context;
             let stmts = &task.stmts;
             user_tasks.push(quote!(
                 #[doc = #user_hardware_task_doc]
                 #(#attrs)*
+                #(#cfgs)*
                 #[allow(non_snake_case)]
                 fn #name(#context: #name::Context) {
                     use rtic::Mutex as _;
diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs
index 71bcfa8e22..8dcdbcf3e7 100644
--- a/macros/src/codegen/module.rs
+++ b/macros/src/codegen/module.rs
@@ -16,8 +16,6 @@ pub fn codegen(
     let mut module_items = vec![];
     let mut fields = vec![];
     let mut values = vec![];
-    // Used to copy task cfgs to the whole module
-    let mut task_cfgs = vec![];
 
     let name = ctxt.ident(app);
 
@@ -208,8 +206,6 @@ pub fn codegen(
         let priority = spawnee.args.priority;
         let t = util::spawn_t_ident(priority);
         let cfgs = &spawnee.cfgs;
-        // Store a copy of the task cfgs
-        task_cfgs = cfgs.clone();
         let (args, tupled, untupled, ty) = util::regroup_inputs(&spawnee.inputs);
         let args = &args;
         let tupled = &tupled;
@@ -461,9 +457,8 @@ pub fn codegen(
     } else {
         quote!(
             #(#items)*
-
             #[allow(non_snake_case)]
-            #(#task_cfgs)*
+            #(#cfgs)*
             #[doc = #doc]
             pub mod #name {
                 #(#module_items)*
diff --git a/macros/src/codegen/pre_init.rs b/macros/src/codegen/pre_init.rs
index 3d541a4749..2362cb7466 100644
--- a/macros/src/codegen/pre_init.rs
+++ b/macros/src/codegen/pre_init.rs
@@ -16,9 +16,11 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
     // Populate the FreeQueue
     for (name, task) in &app.software_tasks {
         let cap = task.args.capacity;
+        let cfgs = &task.cfgs;
         let fq_ident = util::fq_ident(name);
 
         stmts.push(quote!(
+            #(#cfgs)*
             (0..#cap).for_each(|i| (&mut *#fq_ident.get_mut()).enqueue_unchecked(i));
         ));
     }
diff --git a/macros/src/codegen/shared_resources_struct.rs b/macros/src/codegen/shared_resources_struct.rs
index 7b6cd20d5c..df362719dd 100644
--- a/macros/src/codegen/shared_resources_struct.rs
+++ b/macros/src/codegen/shared_resources_struct.rs
@@ -15,6 +15,19 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
         Context::SoftwareTask(name) => &app.software_tasks[name].args.shared_resources,
     };
 
+    let v = Vec::new();
+    let task_cfgs = match ctxt {
+        Context::HardwareTask(t) => {
+            &app.hardware_tasks[t].cfgs
+            // ...
+        }
+        Context::SoftwareTask(t) => {
+            &app.software_tasks[t].cfgs
+            // ...
+        }
+        _ => &v,
+    };
+
     let mut fields = vec![];
     let mut values = vec![];
     let mut has_cfgs = false;
@@ -118,6 +131,7 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
         #[allow(non_snake_case)]
         #[allow(non_camel_case_types)]
         #[doc = #doc]
+        #(#task_cfgs)*
         pub struct #ident<#lt> {
             #(#fields,)*
         }
@@ -129,6 +143,7 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
         Some(quote!(priority: &#lt rtic::export::Priority))
     };
     let constructor = quote!(
+        #(#task_cfgs)*
         impl<#lt> #ident<#lt> {
             #[doc(hidden)]
             #[inline(always)]
diff --git a/macros/src/codegen/software_tasks.rs b/macros/src/codegen/software_tasks.rs
index 6bd2a71f11..226121dd8c 100644
--- a/macros/src/codegen/software_tasks.rs
+++ b/macros/src/codegen/software_tasks.rs
@@ -29,6 +29,7 @@ pub fn codegen(
 
     for (name, task) in &app.software_tasks {
         let inputs = &task.inputs;
+        let cfgs = &task.cfgs;
         let (_, _, _, input_ty) = util::regroup_inputs(inputs);
 
         let cap = task.args.capacity;
@@ -49,6 +50,7 @@ pub fn codegen(
         mod_app.push(quote!(
             // /// Queue version of a free-list that keeps track of empty slots in
             // /// the following buffers
+            #(#cfgs)*
             #[allow(non_camel_case_types)]
             #[allow(non_upper_case_globals)]
             #[doc(hidden)]
@@ -89,6 +91,7 @@ pub fn codegen(
             #[allow(non_camel_case_types)]
             #[allow(non_upper_case_globals)]
             #[doc(hidden)]
+            #(#cfgs)*
             static #inputs_ident: rtic::RacyCell<[core::mem::MaybeUninit<#input_ty>; #cap_lit]> =
                 rtic::RacyCell::new([#(#elems,)*]);
         ));