For the last ten years of career I worked on an imbedded telemetry system using OS/9 (linux on a chip) as the main processor and 8051 machine interface units on a bitbus bus. The software was written by a software house. we also used Siemans control systems, again the software was written by a software house. Can you see where this is going? As I see it, there are two ways of getting into this industry the first is to work for a software house. the second is to work in some industry and become an expert in it then just buy in the software and re-configure it for this application. This second option is good for free lancing as all fruit canners will use similar canning machines, which they might want to automate. I had a friend who did just this, ran a company which at its peak employed 12 people, though due to management falling out the company was dissolved.
Frank