This document discusses continuous-phase frequency-shift keying (CPFSK) modulation. CPFSK is a memory-based modulation scheme where the phase is constrained to be continuous, unlike conventional FSK which has abrupt phase shifts. This avoids large spectral side lobes outside the main signal band. CPFSK uses a voltage-controlled oscillator where the phase is determined by integrating the modulated signal. The phase trajectories form a piecewise linear phase trellis. Minimum-shift keying (MSK) is a special case of binary CPFSK with a modulation index of 1/2 and rectangular pulses.