Nope. But you should check out Embedded Artistry[1], its the single best resource I've seen on a field that's mysterious even to most professional programmers.

Have you spent any time doing Arduino projects? While not representative of real-world firmware work, Arduino is very accessible/cheap and will teach your transferable skills (e.g. C programming for interfacing with HW). I'd encourage you to really put some time in before you commit to anything embedded - because the amount of jobs and the range of companies you can work at is much, much lower than "mainstream" development (say, building web applications).

[1] https://embeddedartistry.com/beginners/