MIT has a program known as OpenCourseWare designed to provide free access to course materials from previously presented MIT courses. Course offerings from all academic disciplines are available and the list grows periodically. MIT OCW even has their own YouTube channel.
Here’s an interesting offering, Introductory Digital Systems Laboratory, covering topics related to CPLD/FPGA program development. While the downsides are that the course is from 2002 and uses a MIT designed dev board for the labs, the course nevertheless requires no prerequisite work or knowledge of digital systems and provides free exposure to an undergrad MIT course on programmable logic design. Check it out.
Good luck trying to find the videos for this course. I gave up. Even if you do find them, you might find the quality is so bad they are almost useless, not to mention they are locked down in YouTube. I have found that many of the online courses like this at the undergrad level are taught by inexperienced TA’s who often possess poor command of the English language – pretty bad IMO. To be fair though, there have been some online courses I’ve tried that are pretty good. Usually they’re recently added graduate level courses with decent quality downloadable video.