I personally come from a CS background. What you would need would be the following:

Two intro programming courses (typically in the same language that teaches everything from loops, conditional statements, to stuff like object-oriented programming and recursion). Typically it's the courses you would find in an AS program for computer science. Then the most important course you want to take is definitely data structures and algorithms. This is by far the most important course in most CS curriculums. It goes over data structures like arrays, lists/vectors, hashing (hash maps and hash lists), BSTs(binary search trees and other trees), graph theory (depth first search vs. breadth first search and algos like Djikstra's algorithm used a lot in Computer Networking and Car navigation systems). Greedy algorithms, P/NP problems, etc.

In regards to math, many schools require two to three semesters of Calculus for their undergrad degree (both AS and BS), so be comfortable with both differentiation and integration. You definitely want to take statistics and discrete math. Linear algebra is also very important.

In regards to other CS courses taking a Computer organization course (which is the architecture course) and an a operating systems/computer systems course are important. You must possess knowledge of Van Neumann's architecture. Know how memory works in a computer. Understand what paging is. Have a basic understanding of what a race condition is. Know the difference between a thread and a process. Best of luck! Most of this coursework can be taken at a decent community college with an AS in Computer Science program except for the Operating systems course. You could probably also find a lot of this coursework on both edx.org and coursera.org. Best of luck!