That would be the PS2’s VUs which had an upper and lower pipe and it was easier to write instructions for each in separate columns. Then in one SDK we received program called vcl which took a single list of instructions, doing all the pipelining for you, as well as optimizing loops and assigning registers automatically. It was a godsend.

I can't remember the details because we coded the SPU in C, but the PS3 SPUs had odd and even cycles with different access properties too.