/**
 * DMA Encoder Logic For 2 Encoders
 **/
void dma_handler() {
  uint i = 1;
  int interrupt_channel = 0;
  while ((i & dma_hw->ints0) == 0) {
    i = i << 1;
    ++interrupt_channel;
  }
  dma_hw->ints0 = 1u << interrupt_channel;
  if (interrupt_channel < 4) {
    dma_channel_set_read_addr(interrupt_channel, &pio->rxf[interrupt_channel],
                              true);
  }
}