On Pepper rev2 my oscilloscope shows, that the 0v line jumps to 1v, when audio codec is running.
Effectively this leads to a level range of approx. 0v to +2v, instead of -1v to +1v.
(edit: my oscilloscope has very tiny display...)
I guess that isn't normal, no?
(edit: shouldn't the whole range be 10v on rev2??)