In some examples, a binary bit stream of input bits is encoded into a three-amplitude bipolar symbol stream of symbols, the encoding using a coding rule that specifies setting a value of a respective symbol of the symbol stream based on a respective input bit of the binary bit stream and a prior input bit of the binary bit stream that is prior to the respective input bit, the coding rule further specifying that adjacent non-zero pulses keep the same polarity. A radio frequency (RF) carrier signal is modulated using the symbol stream to produce a modulated RF signal.