diff --git a/docs/library/machine.QECNT.rst b/docs/library/machine.QECNT.rst
index 4fe344777d..83ee6bb1c9 100644
--- a/docs/library/machine.QECNT.rst
+++ b/docs/library/machine.QECNT.rst
@@ -13,7 +13,7 @@ Example usage::
 
     from machine import Pin, Encoder
 
-    qe = Encoder(0, Pin(0), Pin(1)) # create Quadrature Encoder object
+    qe = Encoder(0, Pin("D0"), Pin("D1")) # create Quadrature Encoder object
     qe.value()                      # get current counter values
     qe.value(0)                     # Set value and cycles to 0
     qe.init(cpc=128)                # Specify 128 counts/cycle
@@ -177,7 +177,7 @@ Example usage::
 
     from machine import Pin, Counter
 
-    counter = Counter(0, Pin(0))          # create Counter object
+    counter = Counter(0, Pin("D0"))       # create Counter object
     counter.value()                       # get current counter value
     counter.value(0)                      # Set the counter to 0
     counter.init(cpc=128)                 # Specify 128 counts/cycle
@@ -352,20 +352,21 @@ assignment to the Encoder or Counter are:
 
 **Teensy 4.0**:
 
-  Pins 0, 1, 2, 3, 4, 5, 7, 8, 26, 27, 30, 31, 32, 33. Pin 0 and 5 share the
-  same signal and cannot be used independently.
-  Pins 26, 27, 30 and 31 cannot be used for the match output.
+  Pins D0, D1, D2, D3, D4, D5, D7, D8, D26, D27, D30, D31, D32, D33.
+  Pin D0 and D5 share the same signal and cannot be used independently.
+  Pins D26, D27, D30 and D31 cannot be used for the match output.
 
 **Teensy 4.1**:
 
-  Pins 0, 1, 2, 3, 4, 5, 7, 8, 26, 27, 30, 31, 32, 33, 37, 42, 43, 44, 45, 46 and 47.
-  Pins 26, 27, 30 and 31 cannot be used for the match output.
+  Pins D0, D1, D2, D3, D4, D5, D7, D8, D26, D27, D30, D31, D32, D33,
+  D37, D42, D43, D44, D45, D46 and D47.
+  Pins D26, D27, D30 and D31 cannot be used for the match output.
   Some pins are assigned to the same signal and cannot be used independently. These are:
 
-  - Pin 0, 5 and 37,
-  - Pin 2 and 43,
-  - Pin 3 and 42, and
-  - Pin 4 and 47.
+  - Pins D0, D5 and D37,
+  - Pins D2 and D43,
+  - Pins D3 and D42, and
+  - Pins D4 and D47.
 
 **Seeed ARCH MIX**
 
diff --git a/docs/mimxrt/quickref.rst b/docs/mimxrt/quickref.rst
index eef0934530..17d1c170b1 100644
--- a/docs/mimxrt/quickref.rst
+++ b/docs/mimxrt/quickref.rst
@@ -552,7 +552,7 @@ Example usage::
 
     from machine import Pin, Encoder
 
-    qe = Encoder(0, Pin(0), Pin(1)) # create Quadrature Encoder object
+    qe = Encoder(0, Pin("D0"), Pin("D1")) # create Quadrature Encoder object
     qe.value()                      # get current counter values
     qe.value(0)                     # set value and cycles to 0
     qe.init(cpc=128)                # specify 128 counts/cycle
@@ -581,7 +581,7 @@ Example usage::
 
     from machine import Pin, Counter
 
-    counter = Counter(0, Pin(0))          # create Counter object
+    counter = Counter(0, Pin("D0"))          # create Counter object
     counter.value()                       # get current counter value
     counter.value(0)                      # set the counter to 0
     counter.init(cpc=128)                 # specify 128 counts/cycle
diff --git a/ports/mimxrt/boards/make-pins.py b/ports/mimxrt/boards/make-pins.py
index 55c7f5bd02..3a76306e9a 100644
--- a/ports/mimxrt/boards/make-pins.py
+++ b/ports/mimxrt/boards/make-pins.py
@@ -26,7 +26,7 @@ IOMUX_REGEXS = [
     r"IOMUXC_(?P<pin>GPIO_SNVS_\d\d_DIG)_(?P<function>\w+) (?P<muxRegister>\w+), (?P<muxMode>\w+), (?P<inputRegister>\w+), (?P<inputDaisy>\w+), (?P<configRegister>\w+)",
 ]
 
-SUPPORTED_AF_FNS = {"GPIO", "USDHC", "FLEXPWM", "TMR"}
+SUPPORTED_AF_FNS = {"GPIO", "USDHC", "FLEXPWM", "TMR", "XBAR"}
 
 
 class MimxrtPin(boardgen.Pin):
@@ -183,7 +183,7 @@ class MimxrtPinGenerator(boardgen.PinGenerator):
     # the CMD pin of the USDHC1 function on the GPIO_SD_B0_00 pin.
     def print_module_instances(self, out_header):
         print(file=out_header)
-        for match_fn in ("USDHC", "FLEXPWM", "TMR"):
+        for match_fn in ("USDHC", "FLEXPWM", "TMR", "XBAR"):
             module_instances = defaultdict(list)
             for pin in self.available_pins():
                 for i, (_af_idx, _input_reg, _input_daisy, instance, fn, af) in enumerate(
@@ -200,6 +200,8 @@ class MimxrtPinGenerator(boardgen.PinGenerator):
                 print("#define {:s}_AVAIL (1)".format(k), file=out_header)
                 if match_fn == "FLEXPWM":
                     print("#define {:s} {:s}".format(k, k[-4:]), file=out_header)
+                if match_fn == "XBAR":
+                    print("#define {:s} {:s}A1".format(k, k[:4]), file=out_header)
                 for i in v:
                     print(i, file=out_header)
 
diff --git a/ports/mimxrt/machine_encoder.c b/ports/mimxrt/machine_encoder.c
index f234bb2fce..24c258c872 100644
--- a/ports/mimxrt/machine_encoder.c
+++ b/ports/mimxrt/machine_encoder.c
@@ -31,6 +31,7 @@
 #include "py/mphal.h"
 #include "py/objint.h"
 #include "shared/runtime/mpirq.h"
+#include "extmod/modmachine.h"
 #include "modmachine.h"
 #include "fsl_clock.h"
 #include "fsl_enc.h"