#define CHECK_BIT(var,pos) ((var) & (1<<(pos)))


if( CHECK_BIT(received_data[1], 7))  //set or clear LED2
          {LATAbits.LATA2=1;}else{LATAbits.LATA2=0;}
if( CHECK_BIT(received_data[5], 7))  //set or clear LED3
          {LATAbits.LATA3=1;}else{LATAbits.LATA3=0;}

float f1 = *(float*)(received_data+1)
float f2 = *(float*)(received_data+5)

union {
  char chars[4];
  float f;
} u;

for (i = 0; i < 4; i++)
  u.chars[3-i] = received_data[i+1];
float f1 = u.f;
// ... and similarly for second float

float f = *((float*)(&received_data[1]));

char *data;

//Assemble in the *right* order
data[0] = received_data[4]; // index is machine dependant!
...

// cast
float *fptr = (float *)data;
printf ("%fn",*fptr);

struct packet_s {
   char byte0;
   float f1;
   float f2;
   ...
}

static char* bufferFloat    (int* bLen, float value) {
*bLen = sizeof(float);
char* buf = malloc (*bLen);
int storage;

memcpy (&storage, &value, sizeof (int));
uint32_t val = htonl (storage);
memcpy (buf, &val, *bLen);

return buf;
}

static float readFloat (char* buf, int* bLen) {
float ret;
int temp;

if (*bLen < sizeof (float)) {
	*bLen = 0;
	return 0.0f;
}

memcpy (&temp, buf, sizeof (int));
uint32_t val = htonl(temp);
memcpy (&ret, &val, sizeof (float));
*bLen = sizeof (float);

return ret;
}

inline float FloatFromByteArray (const unsigned char * received_data)
{
  float f;
  memcpy (&f, received_data, sizeof (float));
  return f;
}

inline float FloatFromByteArray (const unsigned char * received_data)
{
  float f;
  memcpy (&f, received_data+1, sizeof (float));
  return f;
}