Googleing on "decompile ARM GNU" and the like should get you some references for the GNU Debugger and how to use it to decompile ARM binaries. My inpression is that there is a bit of a learning curve to install it and then to know how to use it. And, of course, de-compiling will try to recover things you didn't write, like the linked library routines.
If you still have access to candidate versions of the source code (or can re-create them), you could try re-compiling them. Then do a file length and CRC comparison on the resulting binaries against the one of interest. This assumes that the library binaries have not been 'updated' in the meanwhile.
Does anybody know how to look what code they last wrote in a bin file is their anyway to turn a bin back into code.