solipsist comments on Self-Study Questions Thread - Less Wrong Discussion
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That was the first CS I read, and was what convinced me to study Computer Science. There are no prerequisites.
EDIT: When I read that book, I had known Scheme and calculus for several years. I don't recall either of them being required, but (outside view) they might have been. If you don't know how to program at all in any language, you may get lost. But in general that book does a very good job of exposition.