This work establishes a general method for studying localised eigenmodes in periodic media with defects. Our approach can be used to describe two broad classes of perturbations to periodic differential problems, both compact and non-compact: those caused by inserting a finitesized piece of arbitrary material and those caused by creating an interface between two different periodic media. The results presented here characterise the existence of localised eigenmodes in each case and, when they exist, determine their eigenfrequencies and quantify the rate at which they decay away from the defect. These results are obtained using both high-frequency homogenisation and transfer matrix analysis, with good agreement between the two methods. We will use problems based on the Su-Schrieffer-Heeger model (the canonical example of a one-dimensional topological waveguide) to demonstrate the method.