Disassembling & Decompiling:

The Missing Manual.pdf

Radare2

Get Radare2 from https://github.com/radare/radare2
Firmware Image: init.img
Radare2 Script: radare.r2
Run as: r2 -aarm -b32 -i radare.r2 init.img

IDA Pro

Firmware Image: init.img
IDA Pro .idc Script: init.idc
First open the Firmware Image in IDA Pro, select ARM 32 + Thumb 16 raw binary mode, then load and execute the init.idc Script

ScratchABit

Firmware Image: init.img
Definition file: init.def
ScratchABit .py Script: init.py
Run it like: ./ScratchABit.py init.img init.def --script init

Ghidra

Firmware Image: init.img
Ghidra .py Script: init.py