Fisher's second innovation was the notion that the target CPU architecture should be designed to be a reasonable target for a compiler; that the compiler and the architecture for a VLIW processor must be codesigned. This was inspired partly by the difficulty Fisher observed at Yale of compiling for architectures like Floating Point Systems' FPS164, which had a complex instruction set computing (CISC) architecture that separated instruction initiation from the instructions that saved the result, needing very complex scheduling algorithms. Fisher developed a set of principles characterizing a proper VLIW design, such as self-draining pipelines, wide multi-port register files, and memory architectures. These principles made it easier for compilers to emit fast code.