diff --git a/ci/expected/lm3s6965/t-cfg-tasks.run b/ci/expected/lm3s6965/t-cfg-tasks.run
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/lm3s6965/Cargo.lock b/examples/lm3s6965/Cargo.lock
index 696c606ea2..47b35c2011 100644
--- a/examples/lm3s6965/Cargo.lock
+++ b/examples/lm3s6965/Cargo.lock
@@ -354,7 +354,7 @@ dependencies = [
 
 [[package]]
 name = "rtic"
-version = "2.1.0"
+version = "2.1.1"
 dependencies = [
  "atomic-polyfill",
  "bare-metal 1.0.0",
diff --git a/examples/lm3s6965/examples/t-cfg-tasks.rs b/examples/lm3s6965/examples/t-cfg-tasks.rs
new file mode 100644
index 0000000000..bea5f76e1f
--- /dev/null
+++ b/examples/lm3s6965/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) {}
+}
diff --git a/rtic-macros/CHANGELOG.md b/rtic-macros/CHANGELOG.md
index a0d761bb2e..f5bf9372e1 100644
--- a/rtic-macros/CHANGELOG.md
+++ b/rtic-macros/CHANGELOG.md
@@ -7,6 +7,10 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 
 ## [Unreleased]
 
+### Fixed
+
+- Fixed `#[cfg]` tags on hardware and software tasks.
+
 ## [v2.1.0] - 2024-02-27
 
 ### Added
diff --git a/rtic-macros/src/codegen/async_dispatchers.rs b/rtic-macros/src/codegen/async_dispatchers.rs
index 3d166ca136..cc31a4ea45 100644
--- a/rtic-macros/src/codegen/async_dispatchers.rs
+++ b/rtic-macros/src/codegen/async_dispatchers.rs
@@ -16,10 +16,12 @@ 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 exec_name = util::internal_task_ident(name, "EXEC");
+        let cfgs = &task.cfgs;
 
         items.push(quote!(
+            #(#cfgs)*
             #[allow(non_upper_case_globals)]
             static #exec_name: rtic::export::executor::AsyncTaskExecutorPtr =
                 rtic::export::executor::AsyncTaskExecutorPtr::new();
@@ -46,15 +48,15 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
 
         for name in channel.tasks.iter() {
             let exec_name = util::internal_task_ident(name, "EXEC");
+            let task = &app.software_tasks[name];
+            let cfgs = &task.cfgs;
             let from_ptr_n_args =
                 util::from_ptr_n_args_ident(app.software_tasks[name].inputs.len());
 
-            // TODO: Fix cfg
-            // let task = &app.software_tasks[name];
-            // let cfgs = &task.cfgs;
-
             stmts.push(quote!(
+                #(#cfgs)*
                 let exec = rtic::export::executor::AsyncTaskExecutor::#from_ptr_n_args(#name, &#exec_name);
+                #(#cfgs)*
                 exec.poll(|| {
                     let exec = rtic::export::executor::AsyncTaskExecutor::#from_ptr_n_args(#name, &#exec_name);
                     exec.set_pending();
diff --git a/rtic-macros/src/codegen/hardware_tasks.rs b/rtic-macros/src/codegen/hardware_tasks.rs
index ee85f59f33..e1bc4720ad 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-macros/src/codegen/main.rs b/rtic-macros/src/codegen/main.rs
index 80f2cf6b8a..76bddf2332 100644
--- a/rtic-macros/src/codegen/main.rs
+++ b/rtic-macros/src/codegen/main.rs
@@ -30,14 +30,19 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
 
     let mut executor_allocations = Vec::new();
 
-    for (name, _) in app.software_tasks.iter() {
+    for (name, task) in app.software_tasks.iter() {
         let exec_name = util::internal_task_ident(name, "EXEC");
         let new_n_args = util::new_n_args_ident(app.software_tasks[name].inputs.len());
+        let cfgs = &task.cfgs;
 
         executor_allocations.push(quote!(
+            #(#cfgs)*
             let executor = ::core::mem::ManuallyDrop::new(rtic::export::executor::AsyncTaskExecutor::#new_n_args(#name));
-            executors_size += ::core::mem::size_of_val(&executor);
-            #exec_name.set_in_main(&executor);
+            #(#cfgs)*
+            {
+                executors_size += ::core::mem::size_of_val(&executor);
+                #exec_name.set_in_main(&executor);
+            }
         ));
     }
 
diff --git a/rtic/CHANGELOG.md b/rtic/CHANGELOG.md
index c2cd678a78..ccf6983594 100644
--- a/rtic/CHANGELOG.md
+++ b/rtic/CHANGELOG.md
@@ -7,6 +7,10 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 
 ## [Unreleased]
 
+### Fixed
+
+- Fixed `#[cfg]` tags on hardware and software tasks.
+
 ## [v2.1.1] - 2024-03-13
 
 ### Fixed