Ask HN: How do I jump from iOS dev to firmware/embedded software engineering

I'm a developer in my early 30s with an education on software engineering. When I was in college I was fascinated by low-level programming but when I got into the job market I got stuck with higher level development. Right now I'm a iOS developer but that's not my passion. I feel that I would rather be developing firmware in C or Forth for avr/arm or eventually even get into VHDL. I like digital electronics, low-level programming, protocols and bitwise stuff. I know there's a strong hardware hobby culture around arduinos/teensy/raspberry but I never really got into it. I could start there, I have a lot of projects I want to do but since I'm programming full-time it's difficult to come home and spend my remaining time programming. I've also seen some embedded master programs that I would love to take but even though education is free in Europe I would still need a job to pay my bills. I'm a very decent POSIX C developer but embedded is different. I lack the experience. How easy it would be to change careers at this point? I would love your feedback and 2cents. Thanks!