avrdude is for both. It is not really possible to extract the data from a compiled binary. What you can is check the values like steps per mm, acceleration and max. speeds, but that is all. Motor drivers are most likely just step/enable/dir signalled drivers, so nothing special. Heaters are also uncritical. Biggest problem is the thermistor type as different types have different temperatures with same resistance. So selecting wrong type will work but give you wrong temperatures. And of course you need to find out the pin usage. Since board is known you can just follow the cables and see what is connected to which board connector, so just work or you find a list somewhere.
