diff --git a/rtic-macros/CHANGELOG.md b/rtic-macros/CHANGELOG.md
index 86b051b695fc..6b583b8cbd07 100644
--- a/rtic-macros/CHANGELOG.md
+++ b/rtic-macros/CHANGELOG.md
@@ -7,6 +7,8 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 
 ## [Unreleased]
 
+- Added `waker` getter to software tasks
+
 ## [v2.1.1] - 2024-12-06
 
 ### Changed
diff --git a/rtic-macros/src/codegen/module.rs b/rtic-macros/src/codegen/module.rs
index a8700c5bafb9..1d2f90a6928b 100644
--- a/rtic-macros/src/codegen/module.rs
+++ b/rtic-macros/src/codegen/module.rs
@@ -158,6 +158,7 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
         };
 
         let internal_spawn_ident = util::internal_task_ident(name, "spawn");
+        let internal_waker_ident = util::internal_task_ident(name, "waker");
         let from_ptr_n_args = util::from_ptr_n_args_ident(spawnee.inputs.len());
         let (input_args, input_tupled, input_untupled, input_ty) =
             util::regroup_inputs(&spawnee.inputs);
@@ -184,11 +185,36 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
             }
         ));
 
+        // Waker
+        items.push(quote!(
+            #(#cfgs)*
+            /// Gives waker to the task
+            #[allow(non_snake_case)]
+            #[doc(hidden)]
+            pub fn #internal_waker_ident() -> ::core::task::Waker {
+                // SAFETY: #exec_name is a valid pointer to an executor.
+                unsafe {
+                    let exec = rtic::export::executor::AsyncTaskExecutor::#from_ptr_n_args(#name, &#exec_name);
+                    exec.waker(|| {
+                        let exec = rtic::export::executor::AsyncTaskExecutor::#from_ptr_n_args(#name, &#exec_name);
+                        exec.set_pending();
+                        #pend_interrupt
+                    })
+                }
+            }
+        ));
+
         module_items.push(quote!(
             #(#cfgs)*
             #[doc(inline)]
             pub use super::#internal_spawn_ident as spawn;
         ));
+
+        module_items.push(quote!(
+            #(#cfgs)*
+            #[doc(inline)]
+            pub use super::#internal_waker_ident as waker;
+        ));
     }
 
     if items.is_empty() {
diff --git a/rtic/CHANGELOG.md b/rtic/CHANGELOG.md
index faefaeb8edae..5bad996ec795 100644
--- a/rtic/CHANGELOG.md
+++ b/rtic/CHANGELOG.md
@@ -20,6 +20,8 @@ Example:
 
 ## [Unreleased]
 
+- Added public `waker` constructor to the executor.
+
 ## [v2.1.2] - 2024-12-06
 
 ### Changed
diff --git a/rtic/src/export/executor.rs b/rtic/src/export/executor.rs
index 8d42c4153fa8..b82dfe97f770 100644
--- a/rtic/src/export/executor.rs
+++ b/rtic/src/export/executor.rs
@@ -192,11 +192,16 @@ impl<F: Future> AsyncTaskExecutor<F> {
         self.set_pending();
     }
 
+    #[inline(always)]
+    pub const fn waker(&self, wake: fn()) -> Waker {
+        unsafe { Waker::from_raw(RawWaker::new(wake as *const (), &WAKER_VTABLE)) }
+    }
+
     /// Poll the future in the executor.
     #[inline(always)]
     pub fn poll(&self, wake: fn()) {
         if self.is_running() && self.check_and_clear_pending() {
-            let waker = unsafe { Waker::from_raw(RawWaker::new(wake as *const (), &WAKER_VTABLE)) };
+            let waker = self.waker(wake);
             let mut cx = Context::from_waker(&waker);
             let future = unsafe { Pin::new_unchecked(&mut *(self.task.get() as *mut F)) };