diff --git a/macros/src/codegen.rs b/macros/src/codegen.rs
index 081c37fa21..9c1ae88c48 100644
--- a/macros/src/codegen.rs
+++ b/macros/src/codegen.rs
@@ -10,12 +10,12 @@ mod hardware_tasks;
 mod idle;
 mod init;
 mod local_resources;
-mod shared_resources;
 mod local_resources_struct;
-mod shared_resources_struct;
 mod module;
 mod post_init;
 mod pre_init;
+mod shared_resources;
+mod shared_resources_struct;
 mod software_tasks;
 mod timer_queue;
 mod util;
@@ -53,7 +53,7 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
     mod_app.push(quote!(
         #mod_app_init
 
-        #mod_app_idle
+        #(#mod_app_idle)*
     ));
 
     let main = util::suffixed("main");
@@ -84,8 +84,10 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
         }
     ));
 
-    let (mod_app_shared_resources, mod_shared_resources) = shared_resources::codegen(app, analysis, extra);
-    let (mod_app_local_resources, mod_local_resources) = local_resources::codegen(app, analysis, extra);
+    let (mod_app_shared_resources, mod_shared_resources) =
+        shared_resources::codegen(app, analysis, extra);
+    let (mod_app_local_resources, mod_local_resources) =
+        local_resources::codegen(app, analysis, extra);
 
     let (mod_app_hardware_tasks, root_hardware_tasks, user_hardware_tasks) =
         hardware_tasks::codegen(app, analysis, extra);
diff --git a/macros/src/codegen/hardware_tasks.rs b/macros/src/codegen/hardware_tasks.rs
index a69f9c9b9f..c7f3e7d913 100644
--- a/macros/src/codegen/hardware_tasks.rs
+++ b/macros/src/codegen/hardware_tasks.rs
@@ -57,13 +57,17 @@ pub fn codegen(
             }
         ));
 
-        let mut needs_lt = false;
+        let mut shared_needs_lt = false;
+        let mut local_needs_lt = false;
 
         // TODO: Fix locals
         // `${task}Locals`
         if !task.args.local_resources.is_empty() {
-            let (item, constructor) =
-                local_resources_struct::codegen(Context::HardwareTask(name), &mut needs_lt, app);
+            let (item, constructor) = local_resources_struct::codegen(
+                Context::HardwareTask(name),
+                &mut local_needs_lt,
+                app,
+            );
 
             root.push(item);
 
@@ -72,8 +76,11 @@ pub fn codegen(
 
         // `${task}Resources`
         if !task.args.shared_resources.is_empty() {
-            let (item, constructor) =
-                shared_resources_struct::codegen(Context::HardwareTask(name), &mut needs_lt, app);
+            let (item, constructor) = shared_resources_struct::codegen(
+                Context::HardwareTask(name),
+                &mut shared_needs_lt,
+                app,
+            );
 
             root.push(item);
 
@@ -82,23 +89,13 @@ pub fn codegen(
 
         root.push(module::codegen(
             Context::HardwareTask(name),
-            needs_lt,
+            shared_needs_lt,
+            local_needs_lt,
             app,
             analysis,
             extra,
         ));
 
-        // TODO: Fix locals
-        // // `${task}Locals`
-        // let mut locals_pat = None;
-        // if !task.locals.is_empty() {
-        //     let (struct_, pat) =
-        //         local_resources_struct::codegen(Context::HardwareTask(name), &task.locals, app);
-
-        //     root.push(struct_);
-        //     locals_pat = Some(pat);
-        // }
-
         if !task.is_extern {
             let attrs = &task.attrs;
             let context = &task.context;
diff --git a/macros/src/codegen/idle.rs b/macros/src/codegen/idle.rs
index 9c8a5f76cb..d653931655 100644
--- a/macros/src/codegen/idle.rs
+++ b/macros/src/codegen/idle.rs
@@ -15,7 +15,7 @@ pub fn codegen(
     extra: &Extra,
 ) -> (
     // mod_app_idle -- the `${idle}Resources` constructor
-    Option<TokenStream2>,
+    Vec<TokenStream2>,
     // root_idle -- items that must be placed in the root of the crate:
     // - the `${idle}Locals` struct
     // - the `${idle}Resources` struct
@@ -27,31 +27,34 @@ pub fn codegen(
     TokenStream2,
 ) {
     if let Some(idle) = &app.idle {
-        let mut needs_lt = false;
-        let mut mod_app = None;
+        let mut shared_needs_lt = false;
+        let mut local_needs_lt = false;
+        let mut mod_app = vec![];
         let mut root_idle = vec![];
 
         let name = &idle.name;
 
         if !idle.args.shared_resources.is_empty() {
-            let (item, constructor) = shared_resources_struct::codegen(Context::Idle, &mut needs_lt, app);
+            let (item, constructor) =
+                shared_resources_struct::codegen(Context::Idle, &mut shared_needs_lt, app);
 
             root_idle.push(item);
-            mod_app = Some(constructor);
+            mod_app.push(constructor);
         }
 
-        // TODO: Fix locals
-        // if !idle.locals.is_empty() {
-        //     let (locals, pat) = locals::codegen(Context::Idle, &idle.locals, app);
+        if !idle.args.local_resources.is_empty() {
+            let (item, constructor) =
+                local_resources_struct::codegen(Context::Idle, &mut local_needs_lt, app);
 
-        //     locals_new = Some(quote!(#name::Locals::new()));
-        //     locals_pat = Some(pat);
-        //     root_idle.push(locals);
-        // }
+            root_idle.push(item);
+
+            mod_app.push(constructor);
+        }
 
         root_idle.push(module::codegen(
             Context::Idle,
-            needs_lt,
+            shared_needs_lt,
+            local_needs_lt,
             app,
             analysis,
             extra,
@@ -78,7 +81,7 @@ pub fn codegen(
         (mod_app, root_idle, user_idle, call_idle)
     } else {
         (
-            None,
+            vec![],
             vec![],
             None,
             quote!(loop {
diff --git a/macros/src/codegen/init.rs b/macros/src/codegen/init.rs
index e3f74086e7..1bea7b7eca 100644
--- a/macros/src/codegen/init.rs
+++ b/macros/src/codegen/init.rs
@@ -26,7 +26,7 @@ type CodegenResult = (
 /// Generates support code for `#[init]` functions
 pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> CodegenResult {
     let init = &app.init;
-    let mut needs_lt = false;
+    let mut local_needs_lt = false;
     let name = &init.name;
 
     let mut root_init = vec![];
@@ -96,6 +96,16 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> CodegenResult {
 
     let mut mod_app = None;
 
+    // `${task}Locals`
+    if !init.args.local_resources.is_empty() {
+        let (item, constructor) =
+            local_resources_struct::codegen(Context::Init, &mut local_needs_lt, app);
+
+        root_init.push(item);
+
+        mod_app = Some(constructor);
+    }
+
     // let locals_new = locals_new.iter();
     let call_init = quote! {
         let (shared_resources, local_resources, mut monotonics) = #name(#name::Context::new(core.into()));
@@ -103,7 +113,8 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> CodegenResult {
 
     root_init.push(module::codegen(
         Context::Init,
-        needs_lt,
+        false,
+        local_needs_lt,
         app,
         analysis,
         extra,
diff --git a/macros/src/codegen/local_resources.rs b/macros/src/codegen/local_resources.rs
index 13891f937d..70f7580942 100644
--- a/macros/src/codegen/local_resources.rs
+++ b/macros/src/codegen/local_resources.rs
@@ -9,8 +9,8 @@ use crate::{analyze::Analysis, check::Extra, codegen::util};
 /// I.e. the `static` variables and theirs proxies.
 pub fn codegen(
     app: &App,
-    analysis: &Analysis,
-    extra: &Extra,
+    _analysis: &Analysis,
+    _extra: &Extra,
 ) -> (
     // mod_app -- the `static` variables behind the proxies
     Vec<TokenStream2>,
@@ -22,14 +22,10 @@ pub fn codegen(
 
     // All local resources declared in the `#[local]' struct
     for (name, res) in &app.local_resources {
-        // let expr = &res.expr; // TODO: Extract from tasks???...
         let cfgs = &res.cfgs;
         let ty = &res.ty;
         let mangled_name = util::mark_internal_ident(&util::static_local_resource_ident(name));
 
-        let ty = quote!(rtic::RacyCell<core::mem::MaybeUninit<#ty>>);
-        let expr = quote!(rtic::RacyCell::new(core::mem::MaybeUninit::uninit()));
-
         let attrs = &res.attrs;
         // late resources in `util::link_section_uninit`
         let section = util::link_section_uninit(true);
@@ -43,7 +39,28 @@ pub fn codegen(
             #(#attrs)*
             #(#cfgs)*
             #section
-            static #mangled_name: #ty = #expr;
+            static #mangled_name: rtic::RacyCell<core::mem::MaybeUninit<#ty>> = rtic::RacyCell::new(core::mem::MaybeUninit::uninit());
+        ));
+    }
+
+    // All declared `local = [NAME: TY = EXPR]` local resources
+    for (name, task_local) in app.declared_local_resources() {
+        let cfgs = &task_local.cfgs;
+        let ty = &task_local.ty;
+        let expr = &task_local.expr;
+        let attrs = &task_local.attrs;
+
+        let mangled_name = util::mark_internal_ident(&util::static_local_resource_ident(name));
+
+        // For future use
+        // let doc = format!(" RTIC internal: {}:{}", file!(), line!());
+        mod_app.push(quote!(
+            #[allow(non_upper_case_globals)]
+            // #[doc = #doc]
+            #[doc(hidden)]
+            #(#attrs)*
+            #(#cfgs)*
+            static #mangled_name: rtic::RacyCell<#ty> = rtic::RacyCell::new(#expr);
         ));
     }
 
diff --git a/macros/src/codegen/local_resources_struct.rs b/macros/src/codegen/local_resources_struct.rs
index 14706a5b09..0283d5261a 100644
--- a/macros/src/codegen/local_resources_struct.rs
+++ b/macros/src/codegen/local_resources_struct.rs
@@ -1,6 +1,9 @@
 use proc_macro2::TokenStream as TokenStream2;
 use quote::quote;
-use rtic_syntax::{ast::App, Context};
+use rtic_syntax::{
+    ast::{App, TaskLocal},
+    Context,
+};
 
 use crate::codegen::util;
 
@@ -20,9 +23,15 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
     let mut has_cfgs = false;
 
     for (name, task_local) in resources {
-        let res = app.local_resources.get(name).expect("UNREACHABLE");
+        let (cfgs, ty, is_declared) = match task_local {
+            TaskLocal::External => {
+                let r = app.local_resources.get(name).expect("UNREACHABLE");
+                (&r.cfgs, &r.ty, false)
+            }
+            TaskLocal::Declared(r) => (&r.cfgs, &r.ty, true),
+            _ => unreachable!(),
+        };
 
-        let cfgs = &res.cfgs;
         has_cfgs |= !cfgs.is_empty();
 
         let lt = if ctxt.runs_once() {
@@ -32,7 +41,6 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
             quote!('a)
         };
 
-        let ty = &res.ty;
         let mangled_name = util::mark_internal_ident(&util::static_local_resource_ident(name));
 
         fields.push(quote!(
@@ -40,7 +48,13 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
             pub #name: &#lt mut #ty
         ));
 
-        let expr = quote!(&mut *#mangled_name.get_mut_unchecked().as_mut_ptr());
+        let expr = if is_declared {
+            // If the local resources is already initialized, we only need to access its value and
+            // not go through an `MaybeUninit`
+            quote!(#mangled_name.get_mut_unchecked())
+        } else {
+            quote!(&mut *#mangled_name.get_mut_unchecked().as_mut_ptr())
+        };
 
         values.push(quote!(
             #(#cfgs)*
diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs
index adf64d5bd2..4fba2f38be 100644
--- a/macros/src/codegen/module.rs
+++ b/macros/src/codegen/module.rs
@@ -5,7 +5,8 @@ use rtic_syntax::{ast::App, Context};
 
 pub fn codegen(
     ctxt: Context,
-    resources_tick: bool,
+    shared_resources_tick: bool,
+    local_resources_tick: bool,
     app: &App,
     analysis: &Analysis,
     extra: &Extra,
@@ -67,7 +68,7 @@ pub fn codegen(
     if ctxt.has_local_resources(app) {
         let ident = util::local_resources_ident(ctxt, app);
         let ident = util::mark_internal_ident(&ident);
-        let lt = if resources_tick {
+        let lt = if local_resources_tick {
             lt = Some(quote!('a));
             Some(quote!('a))
         } else {
@@ -90,7 +91,7 @@ pub fn codegen(
     if ctxt.has_shared_resources(app) {
         let ident = util::shared_resources_ident(ctxt, app);
         let ident = util::mark_internal_ident(&ident);
-        let lt = if resources_tick {
+        let lt = if shared_resources_tick {
             lt = Some(quote!('a));
             Some(quote!('a))
         } else {
diff --git a/macros/src/codegen/software_tasks.rs b/macros/src/codegen/software_tasks.rs
index da594e7d3a..6941d9a069 100644
--- a/macros/src/codegen/software_tasks.rs
+++ b/macros/src/codegen/software_tasks.rs
@@ -90,13 +90,16 @@ pub fn codegen(
         ));
 
         // `${task}Resources`
-        let mut needs_lt = false;
+        let mut shared_needs_lt = false;
+        let mut local_needs_lt = false;
 
-        // TODO: Fix locals
         // `${task}Locals`
         if !task.args.local_resources.is_empty() {
-            let (item, constructor) =
-                local_resources_struct::codegen(Context::SoftwareTask(name), &mut needs_lt, app);
+            let (item, constructor) = local_resources_struct::codegen(
+                Context::SoftwareTask(name),
+                &mut local_needs_lt,
+                app,
+            );
 
             root.push(item);
 
@@ -104,15 +107,17 @@ pub fn codegen(
         }
 
         if !task.args.shared_resources.is_empty() {
-            let (item, constructor) =
-                shared_resources_struct::codegen(Context::SoftwareTask(name), &mut needs_lt, app);
+            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;
@@ -133,7 +138,8 @@ pub fn codegen(
 
         root.push(module::codegen(
             Context::SoftwareTask(name),
-            needs_lt,
+            shared_needs_lt,
+            local_needs_lt,
             app,
             analysis,
             extra,
diff --git a/macros/src/codegen/util.rs b/macros/src/codegen/util.rs
index dd0fb6d91e..e3df207621 100644
--- a/macros/src/codegen/util.rs
+++ b/macros/src/codegen/util.rs
@@ -163,19 +163,6 @@ pub fn link_section_uninit(empty_expr: bool) -> Option<TokenStream2> {
     Some(quote!(#[link_section = #section]))
 }
 
-/// Generates a pre-reexport identifier for the "locals" struct
-pub fn locals_ident(ctxt: Context, app: &App) -> Ident {
-    let mut s = match ctxt {
-        Context::Init => app.init.name.to_string(),
-        Context::Idle => app.idle.as_ref().unwrap().name.to_string(),
-        Context::HardwareTask(ident) | Context::SoftwareTask(ident) => ident.to_string(),
-    };
-
-    s.push_str("Locals");
-
-    Ident::new(&s, Span::call_site())
-}
-
 // Regroups the inputs of a task
 //
 // `inputs` could be &[`input: Foo`] OR &[`mut x: i32`, `ref y: i64`]