Вот типы использованых структур:
typedef struct {
signed int Ta_p1;
signed int Tobg_p1;
signed int Ta_p2;
signed int Tobg_p2;
signed int Ta_p3;
signed int Tobg_p3;
signed int Ta_p4;
signed int Tobg_p4;
signed int degree_of_bank; //
signed int degree_of_pitch; //
} Piro_IO;

typedef struct
{
unsigned char Address;
unsigned char Sender;
unsigned char Length;
unsigned char Cmd;
char Data[DATA_LENGTH_MAX];
unsigned char CRC_H;
unsigned char CRC_L;
} Response;

А вот функция вычисления:

unsigned char Match_Test(unsigned char lay) {
long a;

Piro_Buf.Ta_p1 = (((int)IO_Buffer[lay].Data[0]<<8) | IO_Buffer[lay].Data[1]);
Piro_Buf.Ta_p3 = (((int)IO_Buffer[lay].Data[2]<<8) | IO_Buffer[lay].Data[3]);
Piro_Buf.Ta_p2 = (((int)IO_Buffer[lay].Data[4]<<8) | IO_Buffer[lay].Data[5]);
Piro_Buf.Ta_p4 = (((int)IO_Buffer[lay].Data[6]<<8) | IO_Buffer[lay].Data[7]);




Piro_Buf.degree_of_bank = (long)( (Piro_Buf.Tobg_p2-Piro_Buf.Tobg_p4) * 4500L ) / ( Piro_Buf.Tobg_p1-Piro_Buf.Tobg_p3);

IO_Buffer[lay].Data[0] = ((Piro_Buf.degree_of_bank >> 8) & 0xff);
IO_Buffer[lay].Data[1] = (Piro_Buf.degree_of_bank & 0xff);


IO_Buffer[lay].Length = 2;
return 1;
}