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Embedded design typically requires an understanding of both hardware and software development. If you do not come from one of these two backgrounds it can be a steep learning curve. I would suggest three main areas you need to have some knowledge in:
1) Learn how to program in C.
2) Learn at least basic electronics.
3) Learn embedded design techniques.
Books are good place to start, although I can't recommend any in particular:
http://www.amazon.com/gp/search/ref=sr_nr_scat_283155_ln?rh=n:283155,k:embedded+design&keywords=embedded+design&ie=UTF8&qid=1290012820&scn=283155&h=f2b4e5686e6237b8695822ae9beac1f442d48543
Some books are general while some focus on a particular chip or platform. It somewhat depends on what your end goal is, but I would advise choosing a simple, common chip (such as the TI MSP430) and obtaining a development kit / platform for that chip along with resources on using that chip. Any MCU can control ANT, but the MSP430 is one of the more common selections due to it's low cost and size. Also, most of our reference code for ANT is based on the MSP430.
http://focus.ti.com/paramsearch/docs/parametricsearch.tsp?familyId=342§ionId=95&tabId=1200&family=mcu slope
Then you can begin writing simple programs or going through exercises using that platform. Chip makers want you to be able to use their products, so each of them has a wide variety of resources available online to help you.
Good luck!