Learning Embedded Systems Programming, Cheap?

LordNimon asks: "I'm interested in learning embedded systems programming, but I don't want to spend a lot of money on hardware and software to get that experience. I already know device drivers and BIOS, and I know about LinuxDevices.com, but I don't know Linux programming (yet). I was hoping someone experienced in this field could tell me what the cheapest way to get started is. I assume I should use Embedded Linux, but what about the hardware?"