Ink/Stitch - An Inkscape extension for designing machine embroidery patterns.
Wilcom TrueSizer - Based on the same core software as Wilcom’s acclaimed professional embroidery design software, .
Embird - Machine-Independent Embroidery Software
Crosti - make your own unique cross stitch design from custom image
Cstitch - free and open source program for creating cross stitch patterns from images
LinuxCNC (the Enhanced Machine Control) - LinuxCNC: an open source CNC machine controller. It can drive milling machines, lathes, 3d printers, laser cutters, plasma cutters, robot arms, hexapods, and more.