There used to be a function named SDL_EnableKeyRepeat() in SDL, but not anymore in SDL2. 
I searched around in SDL2-wiki but failed to locate anything relevant.
Any ideas?
When handling a keyboard event, just filter out any events that are repeat events, i.e. check the repeat field of the SDL_KeyboardEvent of the SDL_Event union.
For example:
SDL_Event event;
while (SDL_PollEvent(&event)) {
  if (event.type == SDL_QUIT) {
    quit = true;
  }
  if (event.type == SDL_KEYDOWN && event.key.repeat == 0) {
    if (event.key.keysym.sym == SDLK_d)
      debug = debug ? false : true;
    // ... handle other keys
  }
}
See https://wiki.libsdl.org/SDL_KeyboardEvent
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