The first Astro (circa 1991) used VSELP (Vector Sum Excited Linear Prediction) and debuted in late 1991/early 1992. When APCO began the P25 IMBE based codecs in 1996, the first Smartzone systems that used VSELP were phased out in favor of a traditional 3600 baud CC with IMBE capable voice but the system itself was not "P25 compliant". Astro 25 (true P25 compliant trunking) arrived in late 2001/early 2002 IIRC.
Motorola also was the father of iDEN which was used by Nextel, Southern LINC, AirINC and a few other operators worldwide. iDEN also used VSELP when it first hit the streets. The first iDEN systems were circuit switched, with the later versions being IP.
Prior to VSELP, DES and DVP were encrypted digital voice formats, available on both trunking and conventional. Used a 12 bit CVSD modulation. Many Smartnet systems supported Securenet and algorithms included DES and DVP. You can read more about Securenet here: