The interrupts library must be included. The OCIE1A (Output Compare Interrupt Enable) is set in the TIMSK1 (Timer mask) register to enable the interrupts for the timer/counter when the ICR (Input Capture Register) is reached. The Global Interrupt is used sei();. When the ICR value is reached, the ISR (Interrupt Service Routine) for the TIMER1_COMPA_vect is called.
TCCR1A |= 1<<WGM11;
TCCR1B |= 1<<WGM12 | 1<<WGM13 | 1<<CS10;
TIMSK1 |= 1<<OCIE1A;
ICR1 = 19999;
//Code to execute when the Timer Reaches the ICR1 value.
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