diff --git a/configure b/configure
index f97cad0298..1aab998d8e 100755
--- a/configure
+++ b/configure
@@ -3366,6 +3366,8 @@ alsa_outdev_deps="alsa"
 avfoundation_indev_deps="avfoundation corevideo coremedia pthreads"
 avfoundation_indev_suggest="coregraphics applicationservices"
 avfoundation_indev_extralibs="-framework Foundation"
+audiotoolbox_outdev_deps="audiotoolbox pthreads"
+audiotoolbox_outdev_extralibs="-framework AudioToolbox -framework CoreAudio"
 bktr_indev_deps_any="dev_bktr_ioctl_bt848_h machine_ioctl_bt848_h dev_video_bktr_ioctl_bt848_h dev_ic_bt8xx_h"
 caca_outdev_deps="libcaca"
 decklink_deps_any="libdl LoadLibrary"
@@ -6151,6 +6153,7 @@ enabled videotoolbox && check_apple_framework VideoToolbox
 check_apple_framework CoreFoundation
 check_apple_framework CoreMedia
 check_apple_framework CoreVideo
+check_apple_framework CoreAudio
 
 enabled avfoundation && {
     disable coregraphics applicationservices
diff --git a/libavdevice/Makefile b/libavdevice/Makefile
index 6ea62b914e..0dfe47a1f4 100644
--- a/libavdevice/Makefile
+++ b/libavdevice/Makefile
@@ -15,6 +15,7 @@ OBJS-$(CONFIG_SHARED)                    += reverse.o
 OBJS-$(CONFIG_ALSA_INDEV)                += alsa_dec.o alsa.o timefilter.o
 OBJS-$(CONFIG_ALSA_OUTDEV)               += alsa_enc.o alsa.o
 OBJS-$(CONFIG_ANDROID_CAMERA_INDEV)      += android_camera.o
+OBJS-$(CONFIG_AUDIOTOOLBOX_OUTDEV)       += audiotoolbox.o
 OBJS-$(CONFIG_AVFOUNDATION_INDEV)        += avfoundation.o
 OBJS-$(CONFIG_BKTR_INDEV)                += bktr.o
 OBJS-$(CONFIG_CACA_OUTDEV)               += caca.o
diff --git a/libavdevice/alldevices.c b/libavdevice/alldevices.c
index 8633433254..4246474536 100644
--- a/libavdevice/alldevices.c
+++ b/libavdevice/alldevices.c
@@ -27,6 +27,16 @@
 extern AVInputFormat  ff_alsa_demuxer;
 extern AVOutputFormat ff_alsa_muxer;
 extern AVInputFormat  ff_android_camera_demuxer;
+extern AVOutputFormat ff_audiotoolbox_muxer;
+extern AVOutputFormat ff_audiotoolbox_f32_muxer;
+extern AVOutputFormat ff_audiotoolbox_s32_muxer;
+extern AVOutputFormat ff_audiotoolbox_s24_muxer;
+extern AVOutputFormat ff_audiotoolbox_s16_muxer;
+extern AVOutputFormat ff_audiotoolbox_s8_muxer;
+extern AVOutputFormat ff_audiotoolbox_u32_muxer;
+extern AVOutputFormat ff_audiotoolbox_u24_muxer;
+extern AVOutputFormat ff_audiotoolbox_u16_muxer;
+extern AVOutputFormat ff_audiotoolbox_u8_muxer;
 extern AVInputFormat  ff_avfoundation_demuxer;
 extern AVInputFormat  ff_bktr_demuxer;
 extern AVOutputFormat ff_caca_muxer;
diff --git a/libavdevice/audiotoolbox.m b/libavdevice/audiotoolbox.m
new file mode 100644
index 0000000000..9950e1fadd
--- /dev/null
+++ b/libavdevice/audiotoolbox.m
@@ -0,0 +1,308 @@
+/*
+ * AudioToolbox output device
+ * Copyright (c) 2020 Thilo Borgmann <thilo.borgmann@mail.de>
+ *
+ * This file is part of FFmpeg.
+ *
+ * FFmpeg is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * FFmpeg is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with FFmpeg; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ */
+
+/**
+ * @file
+ * AudioToolbox output device
+ * @author Thilo Borgmann <thilo.borgmann@mail.de>
+ */
+
+#import <AudioToolbox/AudioToolbox.h>
+#include <pthread.h>
+
+#include "libavutil/opt.h"
+#include "libavformat/internal.h"
+#include "libavutil/internal.h"
+#include "avdevice.h"
+
+typedef struct
+{
+    AVClass*            class;
+
+    AudioDeviceID*      devices;
+    int                 num_devices;
+
+    AudioQueueBufferRef buffer[2];
+    pthread_mutex_t     buffer_lock[2];
+    int                 cur_buf;
+    AudioQueueRef       queue;
+
+    int                 list_devices;
+    int                 audio_device_index;
+
+} ATContext;
+
+static int check_status(ATContext *ctx, OSStatus *status, const char *msg)
+{
+    if (*status != noErr) {
+        av_log(ctx, AV_LOG_ERROR, "Error: %s (%i)\n", msg, *status);
+        return 1;
+    } else {
+        av_log(ctx, AV_LOG_DEBUG, " OK  : %s\n", msg);
+        return 0;
+    }
+}
+
+static void queue_callback(void* atctx, AudioQueueRef inAQ,
+                           AudioQueueBufferRef inBuffer)
+{
+    // unlock the buffer that has just been consumed
+    ATContext *ctx = (ATContext*)atctx;
+    for (int i = 0; i < 2; i++) {
+        if (inBuffer == ctx->buffer[i]) {
+            pthread_mutex_unlock(&ctx->buffer_lock[i]);
+        }
+    }
+}
+
+static av_cold int at_write_header(AVFormatContext *s)
+{
+    ATContext *ctx = (ATContext*)s->priv_data;
+    OSStatus err = noErr;
+    CFStringRef device_UID = NULL;
+
+    // get devices
+    UInt32 data_size = 0;
+    AudioObjectPropertyAddress prop;
+    prop.mSelector = kAudioHardwarePropertyDevices;
+    prop.mScope    = kAudioObjectPropertyScopeGlobal;
+    prop.mElement  = kAudioObjectPropertyElementMaster;
+    err = AudioObjectGetPropertyDataSize(kAudioObjectSystemObject, &prop, 0, NULL, &data_size);
+    if (check_status(ctx, &err, "AudioObjectGetPropertyDataSize devices"))
+        return AVERROR(EINVAL);
+
+    ctx->num_devices = data_size / sizeof(AudioDeviceID);
+
+    ctx->devices = (AudioDeviceID*)(av_malloc(data_size));
+    err = AudioObjectGetPropertyData(kAudioObjectSystemObject, &prop, 0, NULL, &data_size, ctx->devices);
+    if (check_status(ctx, &err, "AudioObjectGetPropertyData devices"))
+        return AVERROR(EINVAL);
+
+    // list devices
+    if (ctx->list_devices) {
+        CFStringRef device_name = NULL;
+        prop.mScope = kAudioDevicePropertyScopeInput;
+
+        av_log(ctx, AV_LOG_INFO, "CoreAudio devices:\n");
+        for(UInt32 i = 0; i < ctx->num_devices; ++i) {
+            // UID
+            data_size = sizeof(device_UID);
+            prop.mSelector = kAudioDevicePropertyDeviceUID;
+            err = AudioObjectGetPropertyData(ctx->devices[i], &prop, 0, NULL, &data_size, &device_UID);
+            if (check_status(ctx, &err, "AudioObjectGetPropertyData UID"))
+                continue;
+
+            // name
+            data_size = sizeof(device_name);
+            prop.mSelector = kAudioDevicePropertyDeviceNameCFString;
+            err = AudioObjectGetPropertyData(ctx->devices[i], &prop, 0, NULL, &data_size, &device_name);
+            if (check_status(ctx, &err, "AudioObjecTGetPropertyData name"))
+                continue;
+
+            av_log(ctx, AV_LOG_INFO, "[%d] %30s, %s\n", i,
+                   CFStringGetCStringPtr(device_name, kCFStringEncodingMacRoman),
+                   CFStringGetCStringPtr(device_UID, kCFStringEncodingMacRoman));
+        }
+    }
+
+    // get user-defined device UID or use default device
+    // -audio_device_index overrides any URL given
+    const char *stream_name = s->url;
+    if (stream_name && ctx->audio_device_index == -1) {
+        sscanf(stream_name, "%d", &ctx->audio_device_index);
+    }
+
+    if (ctx->audio_device_index >= 0) {
+        // get UID of selected device
+        data_size = sizeof(device_UID);
+        prop.mSelector = kAudioDevicePropertyDeviceUID;
+        err = AudioObjectGetPropertyData(ctx->devices[ctx->audio_device_index], &prop, 0, NULL, &data_size, &device_UID);
+        if (check_status(ctx, &err, "AudioObjecTGetPropertyData UID"))
+            return AVERROR(EINVAL);
+    } else {
+        // use default device
+        device_UID = NULL;
+    }
+
+    av_log(ctx, AV_LOG_DEBUG, "stream_name:        %s\n", stream_name);
+    av_log(ctx, AV_LOG_DEBUG, "audio_device_idnex: %i\n", ctx->audio_device_index);
+    av_log(ctx, AV_LOG_DEBUG, "UID:                %s\n", CFStringGetCStringPtr(device_UID, kCFStringEncodingMacRoman));
+
+    // check input stream
+    if (s->nb_streams != 1 || s->streams[0]->codecpar->codec_type != AVMEDIA_TYPE_AUDIO) {
+        av_log(ctx, AV_LOG_ERROR, "Only a single audio stream is supported.\n");
+        return AVERROR(EINVAL);
+    }
+
+    AVCodecParameters *codecpar = s->streams[0]->codecpar;
+
+    // audio format
+    AudioStreamBasicDescription device_format = {0};
+    device_format.mSampleRate        = codecpar->sample_rate;
+    device_format.mFormatID          = kAudioFormatLinearPCM;
+    device_format.mFormatFlags      |= (codecpar->format == AV_SAMPLE_FMT_FLT) ? kLinearPCMFormatFlagIsFloat : 0;
+    device_format.mFormatFlags      |= (codecpar->codec_id == AV_CODEC_ID_PCM_S8) ? kLinearPCMFormatFlagIsSignedInteger : 0;
+    device_format.mFormatFlags      |= (codecpar->codec_id == AV_NE(AV_CODEC_ID_PCM_S16BE, AV_CODEC_ID_PCM_S16LE)) ? kLinearPCMFormatFlagIsSignedInteger : 0;
+    device_format.mFormatFlags      |= (codecpar->codec_id == AV_NE(AV_CODEC_ID_PCM_S24BE, AV_CODEC_ID_PCM_S24LE)) ? kLinearPCMFormatFlagIsSignedInteger : 0;
+    device_format.mFormatFlags      |= (codecpar->codec_id == AV_NE(AV_CODEC_ID_PCM_S32BE, AV_CODEC_ID_PCM_S32LE)) ? kLinearPCMFormatFlagIsSignedInteger : 0;
+    device_format.mFormatFlags      |= (av_sample_fmt_is_planar(codecpar->format)) ? kAudioFormatFlagIsNonInterleaved : 0;
+    device_format.mFormatFlags      |= AV_NE(kAudioFormatFlagIsBigEndian, 0);
+    device_format.mChannelsPerFrame  = codecpar->channels;
+    device_format.mBitsPerChannel    = (codecpar->codec_id == AV_NE(AV_CODEC_ID_PCM_S24BE, AV_CODEC_ID_PCM_S24LE)) ? 24 : (av_get_bytes_per_sample(codecpar->format) << 3);
+    device_format.mBytesPerFrame     = (device_format.mBitsPerChannel >> 3) * device_format.mChannelsPerFrame;
+    device_format.mFramesPerPacket   = 1;
+    device_format.mBytesPerPacket    = device_format.mBytesPerFrame * device_format.mFramesPerPacket;
+    device_format.mReserved          = 0;
+
+    av_log(ctx, AV_LOG_DEBUG, "device_format.mSampleRate        = %i\n", codecpar->sample_rate);
+    av_log(ctx, AV_LOG_DEBUG, "device_format.mFormatID          = %s\n", "kAudioFormatLinearPCM");
+    av_log(ctx, AV_LOG_DEBUG, "device_format.mFormatFlags      |= %s\n", (codecpar->format == AV_SAMPLE_FMT_FLT) ? "kLinearPCMFormatFlagIsFloat" : "0");
+    av_log(ctx, AV_LOG_DEBUG, "device_format.mFormatFlags      |= %s\n", (codecpar->codec_id == AV_CODEC_ID_PCM_S8) ? "kLinearPCMFormatFlagIsSignedInteger" : "0");
+    av_log(ctx, AV_LOG_DEBUG, "device_format.mFormatFlags      |= %s\n", (codecpar->codec_id == AV_NE(AV_CODEC_ID_PCM_S32BE, AV_CODEC_ID_PCM_S32LE)) ? "kLinearPCMFormatFlagIsSignedInteger" : "0");
+    av_log(ctx, AV_LOG_DEBUG, "device_format.mFormatFlags      |= %s\n", (codecpar->codec_id == AV_NE(AV_CODEC_ID_PCM_S16BE, AV_CODEC_ID_PCM_S16LE)) ? "kLinearPCMFormatFlagIsSignedInteger" : "0");
+    av_log(ctx, AV_LOG_DEBUG, "device_format.mFormatFlags      |= %s\n", (codecpar->codec_id == AV_NE(AV_CODEC_ID_PCM_S24BE, AV_CODEC_ID_PCM_S24LE)) ? "kLinearPCMFormatFlagIsSignedInteger" : "0");
+    av_log(ctx, AV_LOG_DEBUG, "device_format.mFormatFlags      |= %s\n", (av_sample_fmt_is_planar(codecpar->format)) ? "kAudioFormatFlagIsNonInterleaved" : "0");
+    av_log(ctx, AV_LOG_DEBUG, "device_format.mFormatFlags      |= %s\n", AV_NE("kAudioFormatFlagIsBigEndian", "0"));
+    av_log(ctx, AV_LOG_DEBUG, "device_format.mFormatFlags      == %i\n", device_format.mFormatFlags);
+    av_log(ctx, AV_LOG_DEBUG, "device_format.mChannelsPerFrame  = %i\n", codecpar->channels);
+    av_log(ctx, AV_LOG_DEBUG, "device_format.mBitsPerChannel    = %i\n", av_get_bytes_per_sample(codecpar->format) << 3);
+    av_log(ctx, AV_LOG_DEBUG, "device_format.mBytesPerFrame     = %i\n", (device_format.mBitsPerChannel >> 3) * codecpar->channels);
+    av_log(ctx, AV_LOG_DEBUG, "device_format.mBytesPerPacket    = %i\n", device_format.mBytesPerFrame);
+    av_log(ctx, AV_LOG_DEBUG, "device_format.mFramesPerPacket   = %i\n", 1);
+    av_log(ctx, AV_LOG_DEBUG, "device_format.mReserved          = %i\n", 0);
+
+    // create new output queue for the device
+    err = AudioQueueNewOutput(&device_format, queue_callback, ctx,
+                              NULL, kCFRunLoopCommonModes,
+                              0, &ctx->queue);
+    if (check_status(ctx, &err, "AudioQueueNewOutput"))
+        return AVERROR(EINVAL);
+
+    // set user-defined device or leave untouched for default
+    if (device_UID != NULL) {
+        err = AudioQueueSetProperty(ctx->queue, kAudioQueueProperty_CurrentDevice, &device_UID, sizeof(device_UID));
+        if (check_status(ctx, &err, "AudioQueueSetProperty output UID"))
+            return AVERROR(EINVAL);
+    }
+
+    // start the queue
+    err = AudioQueueStart(ctx->queue, NULL);
+    if (check_status(ctx, &err, "AudioQueueStart"))
+        return AVERROR(EINVAL);
+
+    // init the mutexes for double-buffering
+    pthread_mutex_init(&ctx->buffer_lock[0], NULL);
+    pthread_mutex_init(&ctx->buffer_lock[1], NULL);
+
+    return 0;
+}
+
+static int at_write_packet(AVFormatContext *s, AVPacket *pkt)
+{
+    ATContext *ctx = (ATContext*)s->priv_data;
+    OSStatus err = noErr;
+
+    // use the other buffer
+    ctx->cur_buf = !ctx->cur_buf;
+
+    // lock for writing or wait for the buffer to be available
+    // will be unlocked by queue callback
+    pthread_mutex_lock(&ctx->buffer_lock[ctx->cur_buf]);
+
+    // (re-)allocate the buffer if not existant or of different size
+    if (!ctx->buffer[ctx->cur_buf] || ctx->buffer[ctx->cur_buf]->mAudioDataBytesCapacity != pkt->size) {
+        err = AudioQueueAllocateBuffer(ctx->queue, pkt->size, &ctx->buffer[ctx->cur_buf]);
+        if (check_status(ctx, &err, "AudioQueueAllocateBuffer")) {
+            pthread_mutex_unlock(&ctx->buffer_lock[ctx->cur_buf]);
+            return AVERROR(ENOMEM);
+        }
+    }
+
+    AudioQueueBufferRef buf = ctx->buffer[ctx->cur_buf];
+
+    // copy audio data into buffer and enqueue the buffer
+    memcpy(buf->mAudioData, pkt->data, buf->mAudioDataBytesCapacity);
+    buf->mAudioDataByteSize = buf->mAudioDataBytesCapacity;
+    err = AudioQueueEnqueueBuffer(ctx->queue, buf, 0, NULL);
+    if (check_status(ctx, &err, "AudioQueueEnqueueBuffer")) {
+        pthread_mutex_unlock(&ctx->buffer_lock[ctx->cur_buf]);
+        return AVERROR(EINVAL);
+    }
+
+    return 0;
+}
+
+static av_cold int at_write_trailer(AVFormatContext *s)
+{
+    ATContext *ctx = (ATContext*)s->priv_data;
+    OSStatus err = noErr;
+
+    av_freep(&ctx->devices);
+    pthread_mutex_destroy(&ctx->buffer_lock[0]);
+    pthread_mutex_destroy(&ctx->buffer_lock[1]);
+
+    err = AudioQueueFlush(ctx->queue);
+    check_status(ctx, &err, "AudioQueueFlush");
+    err = AudioQueueDispose(ctx->queue, true);
+    check_status(ctx, &err, "AudioQueueDispose");
+
+    return 0;
+}
+
+static const AVOption options[] = {
+    { "list_devices", "list available audio devices", offsetof(ATContext, list_devices), AV_OPT_TYPE_BOOL, {.i64=0}, 0, 1, AV_OPT_FLAG_ENCODING_PARAM },
+    { "audio_device_index", "select audio device by index (starts at 0)", offsetof(ATContext, audio_device_index), AV_OPT_TYPE_INT, {.i64 = -1}, -1, INT_MAX, AV_OPT_FLAG_ENCODING_PARAM },
+    { NULL },
+};
+
+static const AVClass at_class = {
+    .class_name = "AudioToolbox outdev",
+    .item_name  = av_default_item_name,
+    .option     = options,
+    .version    = LIBAVUTIL_VERSION_INT,
+    .category   = AV_CLASS_CATEGORY_DEVICE_AUDIO_OUTPUT,
+};
+
+#define ATDEF(name_, long_name_, codec)                 \
+AVOutputFormat ff_ ## name_ ## _muxer = {               \
+    .name           = #name_,                           \
+    .long_name      = NULL_IF_CONFIG_SMALL(long_name_), \
+    .priv_data_size = sizeof(ATContext),                \
+    .audio_codec    = codec,                            \
+    .video_codec    = AV_CODEC_ID_NONE,                 \
+    .write_header   = at_write_header,                  \
+    .write_packet   = at_write_packet,                  \
+    .write_trailer  = at_write_trailer,                 \
+    .flags          = AVFMT_NOFILE,                     \
+    .priv_class     = &at_class,                        \
+};
+
+ATDEF(audiotoolbox,     "AudioToolbox (S16) output device", AV_NE(AV_CODEC_ID_PCM_S16BE, AV_CODEC_ID_PCM_S16LE));
+ATDEF(audiotoolbox_f32, "AudioToolbox (F32) output device", AV_NE(AV_CODEC_ID_PCM_F32BE, AV_CODEC_ID_PCM_F32LE));
+ATDEF(audiotoolbox_s32, "AudioToolbox (S32) output device", AV_NE(AV_CODEC_ID_PCM_S32BE, AV_CODEC_ID_PCM_S32LE));
+ATDEF(audiotoolbox_s24, "AudioToolbox (S24) output device", AV_NE(AV_CODEC_ID_PCM_S24BE, AV_CODEC_ID_PCM_S24LE));
+ATDEF(audiotoolbox_s16, "AudioToolbox (S16) output device", AV_NE(AV_CODEC_ID_PCM_S16BE, AV_CODEC_ID_PCM_S16LE));
+ATDEF(audiotoolbox_s8,  "AudioToolbox (S8) output device",  AV_CODEC_ID_PCM_S8);
+ATDEF(audiotoolbox_u32, "AudioToolbox (U32) output device", AV_NE(AV_CODEC_ID_PCM_U32BE, AV_CODEC_ID_PCM_U32LE));
+ATDEF(audiotoolbox_u24, "AudioToolbox (U24) output device", AV_NE(AV_CODEC_ID_PCM_U24BE, AV_CODEC_ID_PCM_U24LE));
+ATDEF(audiotoolbox_u16, "AudioToolbox (U16) output device", AV_NE(AV_CODEC_ID_PCM_U16BE, AV_CODEC_ID_PCM_U16LE));
+ATDEF(audiotoolbox_u8,  "AudioToolbox (U8) output device",  AV_CODEC_ID_PCM_U8);
+
