// This function does low-lovel setups to achieve a call to an interrupts function every 20uS
void setup_timer_interrupt()
{
    //set timer1 interrupt at 10Hz
    TCCR1A = 0;// set entire TCCR1A register to 0
    TCCR1B = 0;// same for TCCR1B
    TCNT1  = 0;//initialize counter value to 0
    // set compare match register for 1hz increments

    //  OCR1A = 40. This results is 16MHz / 8 / 40 = 20 uS between interrupts
    OCR1A = 40;

    // turn on CTC mode
    TCCR1B |= (1 << WGM12);

    // Set CS12:CS10 to 010 = /8 prescaler
    TCCR1B |= (1 << CS11);

    // enable timer compare interrupt
    TIMSK1 |= (1 << OCIE1A);
}

// 20uS timer interrupt function
// 48810 int/sec = 20.487605 uS
ISR(TIMER1_COMPA_vect, ISR_NOBLOCK) {

    static unsigned char currValue = 0;
    static unsigned short samples = 0;
    static unsigned short newSamples = 0;


    // Sample the pin value
    unsigned char value = digitalRead(rxPinA);

    if ( value == currValue ) {
        samples++;
        samples += newSamples;
        newSamples = 0;
    }
    else {
        newSamples++;
    }

    // We wait until we have sampled 3 equal states before actually accepting that we have received a new pulse
    if ( newSamples == 3 ) {
        uint16_t queSamples = (uint16_t)((samples * 20 > 60000) ? 60000 : samples * 20); // Calc the time in uS
        rcvEnQueue(queSamples); // Send the received pulse to the queue. Max 46000
        samples = newSamples;
        newSamples = 0;
        currValue = value;
    }
}