some resources:
ELF format is generally the default output of compiling. if you use GNU tool chains, you can translate it to binary format by using objcopy, such as:
arm-elf-objcopy -O binary [elf-input-file] [binary-output-file]
or using fromELF utility(built in most IDEs such as ADS though):
fromelf -bin -o [binary-output-file] [elf-input-file]