The tool you're looking for is a Disassembler - this converts binary to assembler. I think it highly unlikely that you'll find anything to go from binary (or even assembler) to a high-level language eg, 'C'.

Do a 'Search' on this forum, and you'll find a few recommendations.

I found one on the Philips site a while back - try a search there, too.

The Keil debugger will debug & show disassembly for a binary file