diff --git a/rtic-macros/src/codegen/init.rs b/rtic-macros/src/codegen/init.rs
index 6e1059f7eb..b667ae0fa5 100644
--- a/rtic-macros/src/codegen/init.rs
+++ b/rtic-macros/src/codegen/init.rs
@@ -18,7 +18,9 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
     let attrs = &init.attrs;
     let stmts = &init.stmts;
     let shared = &init.user_shared_struct;
+    let shared_vis = &app.shared_resources_vis;
     let local = &init.user_local_struct;
+    let local_vis = &app.local_resources_vis;
 
     let shared_resources: Vec<_> = app
         .shared_resources
@@ -27,10 +29,11 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
             let ty = &v.ty;
             let cfgs = &v.cfgs;
             let docs = &v.docs;
+            let vis = &v.vis;
             quote!(
                 #(#cfgs)*
                 #(#docs)*
-                #k: #ty,
+                #vis #k: #ty,
             )
         })
         .collect();
@@ -41,20 +44,21 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
             let ty = &v.ty;
             let cfgs = &v.cfgs;
             let docs = &v.docs;
+            let vis = &v.vis;
             quote!(
                 #(#cfgs)*
                 #(#docs)*
-                #k: #ty,
+                #vis #k: #ty,
             )
         })
         .collect();
 
     root_init.push(quote! {
-        struct #shared {
+        #shared_vis struct #shared {
             #(#shared_resources)*
         }
 
-        struct #local {
+        #local_vis struct #local {
             #(#local_resources)*
         }
     });
diff --git a/rtic-macros/src/syntax/ast.rs b/rtic-macros/src/syntax/ast.rs
index 27e6773f7f..d5510cbd5d 100644
--- a/rtic-macros/src/syntax/ast.rs
+++ b/rtic-macros/src/syntax/ast.rs
@@ -23,9 +23,13 @@ pub struct App {
     /// Resources shared between tasks defined in `#[shared]`
     pub shared_resources: Map<SharedResource>,
 
+    pub shared_resources_vis: syn::Visibility,
+
     /// Task local resources defined in `#[local]`
     pub local_resources: Map<LocalResource>,
 
+    pub local_resources_vis: syn::Visibility,
+
     /// User imports
     pub user_imports: Vec<ItemUse>,
 
@@ -170,6 +174,9 @@ pub struct SharedResource {
 
     /// Shared resource properties
     pub properties: SharedResourceProperties,
+
+    /// The visibility of this resource
+    pub vis: syn::Visibility,
 }
 
 /// A local resource, defined in `#[local]`
@@ -187,6 +194,9 @@ pub struct LocalResource {
 
     /// The type of this resource
     pub ty: Box<Type>,
+
+    /// The visibility of this resource
+    pub vis: syn::Visibility,
 }
 
 /// An async software task
diff --git a/rtic-macros/src/syntax/parse/app.rs b/rtic-macros/src/syntax/parse/app.rs
index e797f75e37..2f2d816522 100644
--- a/rtic-macros/src/syntax/parse/app.rs
+++ b/rtic-macros/src/syntax/parse/app.rs
@@ -8,7 +8,6 @@ use syn::{
     Expr, ExprArray, Fields, ForeignItem, Ident, Item, LitBool, Path, Token, Visibility,
 };
 
-use super::Input;
 use crate::syntax::{
     ast::{
         App, AppArgs, Dispatcher, Dispatchers, HardwareTask, Idle, IdleArgs, Init, InitArgs,
@@ -18,6 +17,8 @@ use crate::syntax::{
     Either, Map, Set,
 };
 
+use super::Input;
+
 impl AppArgs {
     pub(crate) fn parse(tokens: TokenStream2) -> parse::Result<Self> {
         (|input: ParseStream<'_>| -> parse::Result<Self> {
@@ -147,9 +148,13 @@ impl App {
         let mut idle = None;
 
         let mut shared_resources_ident = None;
+        let mut shared_resources_vis = Visibility::Inherited;
         let mut shared_resources = Map::new();
+
         let mut local_resources_ident = None;
+        let mut local_resources_vis = Visibility::Inherited;
         let mut local_resources = Map::new();
+
         let mut hardware_tasks = Map::new();
         let mut software_tasks = Map::new();
         let mut user_imports = vec![];
@@ -283,12 +288,7 @@ impl App {
                             ));
                         }
 
-                        if struct_item.vis != Visibility::Inherited {
-                            return Err(parse::Error::new(
-                                struct_item.span(),
-                                "this item must have inherited / private visibility",
-                            ));
-                        }
+                        shared_resources_vis = struct_item.vis.clone();
 
                         if let Fields::Named(fields) = &mut struct_item.fields {
                             for field in &mut fields.named {
@@ -301,10 +301,8 @@ impl App {
                                     ));
                                 }
 
-                                shared_resources.insert(
-                                    ident.clone(),
-                                    SharedResource::parse(field, ident.span())?,
-                                );
+                                shared_resources
+                                    .insert(ident.clone(), SharedResource::parse(field)?);
                             }
                         } else {
                             return Err(parse::Error::new(
@@ -328,12 +326,7 @@ impl App {
                             ));
                         }
 
-                        if struct_item.vis != Visibility::Inherited {
-                            return Err(parse::Error::new(
-                                struct_item.span(),
-                                "this item must have inherited / private visibility",
-                            ));
-                        }
+                        local_resources_vis = struct_item.vis.clone();
 
                         if let Fields::Named(fields) = &mut struct_item.fields {
                             for field in &mut fields.named {
@@ -346,10 +339,7 @@ impl App {
                                     ));
                                 }
 
-                                local_resources.insert(
-                                    ident.clone(),
-                                    LocalResource::parse(field, ident.span())?,
-                                );
+                                local_resources.insert(ident.clone(), LocalResource::parse(field)?);
                             }
                         } else {
                             return Err(parse::Error::new(
@@ -470,7 +460,9 @@ impl App {
             init,
             idle,
             shared_resources,
+            shared_resources_vis,
             local_resources,
+            local_resources_vis,
             user_imports,
             user_code,
             hardware_tasks,
diff --git a/rtic-macros/src/syntax/parse/resource.rs b/rtic-macros/src/syntax/parse/resource.rs
index ff1005763e..9ce6725384 100644
--- a/rtic-macros/src/syntax/parse/resource.rs
+++ b/rtic-macros/src/syntax/parse/resource.rs
@@ -1,5 +1,4 @@
-use proc_macro2::Span;
-use syn::{parse, Field, Visibility};
+use syn::{parse, Field};
 
 use crate::syntax::parse::util::FilterAttrs;
 use crate::syntax::{
@@ -8,14 +7,7 @@ use crate::syntax::{
 };
 
 impl SharedResource {
-    pub(crate) fn parse(item: &Field, span: Span) -> parse::Result<Self> {
-        if item.vis != Visibility::Inherited {
-            return Err(parse::Error::new(
-                span,
-                "this field must have inherited / private visibility",
-            ));
-        }
-
+    pub(crate) fn parse(item: &Field) -> parse::Result<Self> {
         let FilterAttrs {
             cfgs,
             mut attrs,
@@ -30,19 +22,13 @@ impl SharedResource {
             docs,
             ty: Box::new(item.ty.clone()),
             properties: SharedResourceProperties { lock_free },
+            vis: item.vis.clone(),
         })
     }
 }
 
 impl LocalResource {
-    pub(crate) fn parse(item: &Field, span: Span) -> parse::Result<Self> {
-        if item.vis != Visibility::Inherited {
-            return Err(parse::Error::new(
-                span,
-                "this field must have inherited / private visibility",
-            ));
-        }
-
+    pub(crate) fn parse(item: &Field) -> parse::Result<Self> {
         let FilterAttrs { cfgs, attrs, docs } = util::filter_attributes(item.attrs.clone());
 
         Ok(LocalResource {
@@ -50,6 +36,7 @@ impl LocalResource {
             attrs,
             docs,
             ty: Box::new(item.ty.clone()),
+            vis: item.vis.clone(),
         })
     }
 }
diff --git a/rtic-macros/ui/local-pub.rs b/rtic-macros/ui/local-pub.rs
deleted file mode 100644
index 42da4f4746..0000000000
--- a/rtic-macros/ui/local-pub.rs
+++ /dev/null
@@ -1,15 +0,0 @@
-#![no_main]
-
-#[rtic_macros::mock_app(device = mock)]
-mod app {
-    #[shared]
-    struct Shared {}
-
-    #[local]
-    struct Local {
-        pub x: u32,
-    }
-
-    #[init]
-    fn init(_: init::Context) -> (Shared, Local) {}
-}
diff --git a/rtic-macros/ui/local-pub.stderr b/rtic-macros/ui/local-pub.stderr
deleted file mode 100644
index e4814ca080..0000000000
--- a/rtic-macros/ui/local-pub.stderr
+++ /dev/null
@@ -1,5 +0,0 @@
-error: this field must have inherited / private visibility
-  --> ui/local-pub.rs:10:13
-   |
-10 |         pub x: u32,
-   |             ^
diff --git a/rtic-macros/ui/shared-pub.rs b/rtic-macros/ui/shared-pub.rs
deleted file mode 100644
index 10351fd562..0000000000
--- a/rtic-macros/ui/shared-pub.rs
+++ /dev/null
@@ -1,9 +0,0 @@
-#![no_main]
-
-#[rtic_macros::mock_app(device = mock)]
-mod app {
-    #[shared]
-    struct Shared {
-        pub x: u32,
-    }
-}
diff --git a/rtic-macros/ui/shared-pub.stderr b/rtic-macros/ui/shared-pub.stderr
deleted file mode 100644
index 71488933d1..0000000000
--- a/rtic-macros/ui/shared-pub.stderr
+++ /dev/null
@@ -1,5 +0,0 @@
-error: this field must have inherited / private visibility
- --> ui/shared-pub.rs:7:13
-  |
-7 |         pub x: u32,
-  |             ^