diff --git a/rtic-macros/CHANGELOG.md b/rtic-macros/CHANGELOG.md
index daee6c38645a..6bfea62cc063 100644
--- a/rtic-macros/CHANGELOG.md
+++ b/rtic-macros/CHANGELOG.md
@@ -15,6 +15,10 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 
 - Upgraded from syn 1.x to syn 2.x
 
+### Fixed
+
+- Fixed `#[cfg]` tags on hardware and software tasks.
+
 ## [v2.0.1] - 2023-07-25
 
 ### Added
diff --git a/rtic-macros/src/codegen/async_dispatchers.rs b/rtic-macros/src/codegen/async_dispatchers.rs
index 54db2b345337..3d9ff1602341 100644
--- a/rtic-macros/src/codegen/async_dispatchers.rs
+++ b/rtic-macros/src/codegen/async_dispatchers.rs
@@ -16,13 +16,16 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
     let interrupts = &analysis.interrupts;
 
     // Generate executor definition and priority in global scope
-    for (name, _) in app.software_tasks.iter() {
+    for (name, task) in app.software_tasks.iter() {
         let type_name = util::internal_task_ident(name, "F");
         let exec_name = util::internal_task_ident(name, "EXEC");
+        let cfgs = &task.cfgs;
 
         items.push(quote!(
+            #(#cfgs)*
             #[allow(non_camel_case_types)]
             type #type_name = impl core::future::Future;
+            #(#cfgs)*
             #[allow(non_upper_case_globals)]
             static #exec_name: rtic::export::executor::AsyncTaskExecutor<#type_name> =
                 rtic::export::executor::AsyncTaskExecutor::new();
@@ -50,11 +53,11 @@ 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;
+            let task = &app.software_tasks[name];
+            let cfgs = &task.cfgs;
 
             stmts.push(quote!(
+                #(#cfgs)*
                 #exec_name.poll(|| {
                     #exec_name.set_pending();
                     #pend_interrupt
diff --git a/rtic-macros/src/codegen/hardware_tasks.rs b/rtic-macros/src/codegen/hardware_tasks.rs
index ee85f59f3351..e1bc4720adf5 100644
--- a/rtic-macros/src/codegen/hardware_tasks.rs
+++ b/rtic-macros/src/codegen/hardware_tasks.rs
@@ -73,10 +73,12 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
 
         if !task.is_extern {
             let attrs = &task.attrs;
+            let cfgs = &task.cfgs;
             let context = &task.context;
             let stmts = &task.stmts;
             user_tasks.push(quote!(
                 #(#attrs)*
+                #(#cfgs)*
                 #[allow(non_snake_case)]
                 fn #name(#context: #name::Context) {
                     use rtic::Mutex as _;
diff --git a/rtic/CHANGELOG.md b/rtic/CHANGELOG.md
index 815b1bb0df97..df8050fc5ff9 100644
--- a/rtic/CHANGELOG.md
+++ b/rtic/CHANGELOG.md
@@ -15,6 +15,7 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 
 - **Soundness fix:** Monotonics did not wait long enough in `Duration` based delays.
   This is not directly a change for `rtic`, but required bumping the minimal version of `rtic-monotonics`.
+- Fixed `#[cfg]` tags on hardware and software tasks.
 
 ### Changed
 
diff --git a/rtic/ci/expected/t-cfg-tasks.run b/rtic/ci/expected/t-cfg-tasks.run
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/rtic/examples/t-cfg-tasks.rs b/rtic/examples/t-cfg-tasks.rs
new file mode 100644
index 000000000000..bea5f76e1f52
--- /dev/null
+++ b/rtic/examples/t-cfg-tasks.rs
@@ -0,0 +1,35 @@
+//! [compile-pass] check that `#[cfg]` attributes applied on tasks work
+
+#![no_main]
+#![no_std]
+#![deny(warnings)]
+#![deny(unsafe_code)]
+#![deny(missing_docs)]
+
+use panic_semihosting as _;
+
+#[rtic::app(device = lm3s6965, dispatchers = [SSI0])]
+mod app {
+    use cortex_m_semihosting::debug;
+
+    #[shared]
+    struct Shared {}
+
+    #[local]
+    struct Local {}
+
+    #[init]
+    fn init(_: init::Context) -> (Shared, Local) {
+        debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
+
+        (Shared {}, Local {})
+    }
+
+    #[cfg(feature = "feature_x")]
+    #[task]
+    async fn opt_sw_task(cx: opt_sw_task::Context) {}
+
+    #[cfg(feature = "feature_x")]
+    #[task(binds = UART0)]
+    fn opt_hw_task(cx: opt_hw_task::Context) {}
+}