diff --git a/scriptmodules/helpers.sh b/scriptmodules/helpers.sh
index ad2b266dd2..64fa525753 100644
--- a/scriptmodules/helpers.sh
+++ b/scriptmodules/helpers.sh
@@ -1213,7 +1213,7 @@ _EOF_
 ## @param but2 mapping for button 2
 ## @param but3 mapping for button 3
 ## @param butX mapping for button X ...
-## @brief Start joy2key.py process in background to map joystick presses to keyboard
+## @brief Start joy2key process in background to map joystick presses to keyboard
 ## @details Arguments are curses capability names or hex values starting with '0x'
 ## see: http://pubs.opengroup.org/onlinepubs/7908799/xcurses/terminfo.html
 function joy2keyStart() {
@@ -1223,18 +1223,30 @@ function joy2keyStart() {
 
     local params=("$@")
     if [[ "${#params[@]}" -eq 0 ]]; then
-        params=(kcub1 kcuf1 kcuu1 kcud1 0x0a 0x20 0x1b)
+        # Default button-to-keyboard mappings:
+        # * cursor keys for axis/dpad
+        # * enter, space and esc for buttons 'a', 'b' and 'x'
+        # * page up/page down for buttons 5,6 (shoulder buttons)
+        params=(kcub1 kcuf1 kcuu1 kcud1 0x0a 0x20 0x1b 0x00 kpp knp)
+    fi
+
+    # Choose the joy2key implementation here, since `runcommand` may not be installed
+    local joy2key="joy2key.py"
+    if hasPackage "python3-sdl2"; then
+        iniConfig " =" '"' "$configdir/all/runcommand.cfg"
+        iniGet "joy2key_version"
+        [[ $ini_value != "0" ]] && joy2key="joy2key_sdl.py"
     fi
 
     # get the first joystick device (if not already set)
     [[ -c "$__joy2key_dev" ]] || __joy2key_dev="/dev/input/jsX"
 
     # if no joystick device, or joy2key is already running exit
-    [[ -z "$__joy2key_dev" ]] || pgrep -f joy2key.py >/dev/null && return 1
+    [[ -z "$__joy2key_dev" ]] || pgrep -f "$joy2key" >/dev/null && return 1
 
-    # if joy2key.py is installed run it with cursor keys for axis/dpad, and enter + space for buttons 0 and 1
-    if "$scriptdir/scriptmodules/supplementary/runcommand/joy2key.py" "$__joy2key_dev" "${params[@]}" 2>/dev/null; then
-        __joy2key_pid=$(pgrep -f joy2key.py)
+    # if joy2key is installed, run it
+    if "$scriptdir/scriptmodules/supplementary/runcommand/$joy2key" "$__joy2key_dev" "${params[@]}" 2>/dev/null; then
+        __joy2key_pid=$(pgrep -f "$joy2key")
         return 0
     fi
 
diff --git a/scriptmodules/supplementary/runcommand.sh b/scriptmodules/supplementary/runcommand.sh
index e469bf2838..c22d711bcc 100644
--- a/scriptmodules/supplementary/runcommand.sh
+++ b/scriptmodules/supplementary/runcommand.sh
@@ -28,11 +28,11 @@ function depends_runcommand() {
 }
 
 function install_bin_runcommand() {
-    cp "$md_data/runcommand.sh" "$md_inst/"
-    cp "$md_data/joy2key.py" "$md_inst/"
-    chmod a+x "$md_inst/runcommand.sh"
-    chmod a+x "$md_inst/joy2key.py"
-    python3 -m compileall "$md_inst/joy2key.py"
+    for file in "runcommand.sh" "joy2key.py" "joy2key_sdl.py"; do
+        cp "$md_data/$file" "$md_inst/"
+        chmod +x "$md_inst/$file"
+    done
+    python3 -m compileall "$md_inst/joy2key.py" "$md_inst/joy2key_sdl.py"
     if [[ ! -f "$configdir/all/runcommand.cfg" ]]; then
         mkUserDir "$configdir/all"
         iniConfig " = " '"' "$configdir/all/runcommand.cfg"
@@ -41,8 +41,16 @@ function install_bin_runcommand() {
         iniSet "governor" ""
         iniSet "disable_menu" "0"
         iniSet "image_delay" "2"
+        if hasPackage "python3-sdl2"; then
+            iniSet "joy2key_version" "1"
+        fi
         chown $user:$user "$configdir/all/runcommand.cfg"
     fi
+    # if PySDL2 is not installed, force the udev version of joy2key
+    if ! hasPackage "python3-sdl2"; then
+        iniConfig " = " '"' "$configdir/all/runcommand.cfg"
+        iniSet "joy2key_version" "0"
+    fi
     if [[ ! -f "$configdir/all/runcommand-launch-dialog.cfg" ]]; then
         dialog --create-rc "$configdir/all/runcommand-launch-dialog.cfg"
         chown $user:$user "$configdir/all/runcommand-launch-dialog.cfg"
@@ -108,6 +116,7 @@ function gui_runcommand() {
             'disable_joystick=0' \
             'image_delay=2' \
             'governor=' \
+            'joy2key_version=1' \
         )"
 
         [[ -z "$governor" ]] && governor="Default: don't change"
@@ -135,6 +144,11 @@ function gui_runcommand() {
 
         options+=(4 "Launch image delay in seconds (currently $image_delay)")
         options+=(5 "CPU governor configuration (currently: $governor)")
+        if [[ "$joy2key_version" -eq 1 ]]; then
+            options+=(6 "Joy2key version (currently: sdl)")
+        else
+            options+=(6 "Joy2key version (currently: udev)")
+        fi
 
         local choice=$("${cmd[@]}" "${options[@]}" 2>&1 >/dev/tty)
         [[ -z "$choice" ]] && break
@@ -157,6 +171,9 @@ function gui_runcommand() {
             5)
                 governor_runcommand
                 ;;
+            6)
+                iniSet "joy2key_version" "$((joy2key_version ^ 1))"
+                ;;
         esac
     done
 }
diff --git a/scriptmodules/supplementary/runcommand/joy2key_sdl.py b/scriptmodules/supplementary/runcommand/joy2key_sdl.py
new file mode 100755
index 0000000000..a03a105c4a
--- /dev/null
+++ b/scriptmodules/supplementary/runcommand/joy2key_sdl.py
@@ -0,0 +1,527 @@
+#!/usr/bin/env python3
+"""
+This file is part of The RetroPie Project
+
+The RetroPie Project is the legal property of its developers, whose names are
+too numerous to list here. Please refer to the COPYRIGHT.md file distributed with this source.
+
+See the LICENSE.md file at the top-level directory of this distribution and
+https://raw.githubusercontent.com/RetroPie/RetroPie-Setup/master/LICENSE.md.
+
+Command line joystick to keyboard translator, using SDL2 for event handling
+Example usage:
+ <script> kcub1 kcuf1 kcuu1 kcud1 0x0a 0x20 0x1b 0x00 kpp knp [--debug|-d]
+See https://pubs.opengroup.org/onlinepubs/7908799/xcurses/terminfo.html for termcap codes
+
+SDL2 event handling is based on EmulationStation's event handling, see
+https://github.com/RetroPie/EmulationStation/blob/62fd08c26d2f757259b7d890c98c0d7e212f6f84/es-core/src/InputManager.cpp#L205
+EmulationStation is authored by Alec "Aloshi" Lofquist (http://www.aloshi.com,http://www.emulationstation.org)
+
+This script uses the PySDL2 python module from https://github.com/marcusva/py-sdl2.
+Install it before running the script with:
+ pip3 install -U git+https://github.com/marcusva/py-sdl2.git
+"""
+
+import logging
+import fcntl
+import sys
+import curses
+import termios
+import signal
+import os.path
+import re
+
+from argparse import ArgumentParser
+from ctypes import create_string_buffer, byref
+from configparser import ConfigParser
+from pwd import getpwnam
+from sdl2 import joystick, events, version, \
+    SDL_WasInit, SDL_Init, SDL_QuitSubSystem, SDL_GetError, \
+    SDL_INIT_JOYSTICK, SDL_INIT_VIDEO, version_info, \
+    SDL_Event, SDL_PollEvent, SDL_Delay, SDL_Quit, \
+    SDL_JOYDEVICEADDED, SDL_JOYDEVICEREMOVED, SDL_QUIT, \
+    SDL_JOYBUTTONDOWN, SDL_JOYBUTTONUP, SDL_JOYHATMOTION, SDL_JOYAXISMOTION, \
+    SDL_GetTicks
+
+logging.basicConfig(level=logging.INFO, format=u"%(asctime)s %(levelname)-6s %(message)s")
+LOG = logging.getLogger(__name__)
+
+# Switch for the HIDAPI driver usage in SDL. Disabled since RetroArch/EmulationStation don't use right now
+SDL_USE_HIDAPI = False
+
+# Joystick deadzone threshold, as used by EmulationStation (see es-core/InputManager::parseInput)
+JS_AXIS_DEADZONE = 23000
+
+# Event polling interval (ms)
+JS_POLL_DELAY = 50
+
+# Event repeat in (ms)
+JS_REPEAT_DELAY = 125
+
+# Event delay after a button is pressed (ms)
+# Set a bit larger than the default repeat delay to prevent multiple inputs being fired
+JS_INIT_DELAY = 250
+
+# Hat values defined here, they're not exported by the sdl2.joystick module
+SDL_HAT_CENTERED = 0x00
+SDL_HAT_UP = 0x01
+SDL_HAT_RIGHT = 0x02
+SDL_HAT_DOWN = 0x04
+SDL_HAT_LEFT = 0x08
+JS_HAT_VALUES = {
+    "up": SDL_HAT_UP,
+    "down": SDL_HAT_DOWN,
+    "left": SDL_HAT_LEFT,
+    "right": SDL_HAT_RIGHT
+}
+
+# RetroPie configurations directory
+CONFIG_DIR = '/opt/retropie/configs'
+
+
+class InputDev(object):
+    """
+    Class representing a joystick device config.
+    Maps the inputs of the device to event names
+    name: the device's name
+    guid: the GUID, as retuned by SDL
+    hats - a dictionary of { <HatNo>: list(<HatValue>, <Event>) }
+    buttons - a dict of { <ButtonNo>: <Event> }
+    axis - a dict of { <AxisNo>: list(<AxisDirection>, <Event>) }
+    """
+
+    def __init__(self, _name: str, _guid: str):
+        self.name = _name
+        self.guid = _guid
+        self.axis = {}
+        self.buttons = {}
+        self.hats = {}
+
+    def add_mappings(self, _axis: dict, _buttons: dict, _hats: dict):
+        self.axis, self.buttons, self.hats = _axis, _buttons, _hats
+
+    def get_btn_event(self, index: int) -> list:
+        if index in self.buttons:
+            return [self.buttons[index]]
+        else:
+            return None
+
+    def get_hat_event(self, index: int, value: int) -> list:
+        if index in self.hats:
+            return [x[1] for x in self.hats[index] if x[0] & value > 0]
+        else:
+            return None
+
+    def get_axis_event(self, index: int, value: int) -> list:
+        if index in self.axis:
+            return [x[1] for x in self.axis[index] if x[0] == value]
+        else:
+            return None
+
+    def __str__(self) -> str:
+        return str(f'{self.name}, hats: {self.hats}, buttons: {self.buttons}, axis: {self.axis}')
+
+
+def generic_event_map(input: str, event_map: dict) -> str:
+    for k, v in event_map.items():
+        if isinstance(v, list):
+            if input in v:
+                return k
+        elif isinstance(v, str) and input == v:
+                return k
+    return input
+
+
+def ra_event_map(input_str: str) -> str:
+    """
+    Maps a RetroArch input option name to an event name
+    Example:
+        'input_a_btn' -> 'a'
+        'input_l_axis' -> 'pageup'
+    """
+    ra_event_map = {
+        'up': ['l_y_minus', 'r_y_minus'],
+        'down': ['l_y_plus', 'r_y_plus'],
+        'left': ['l_x_minus', 'r_x_minus'],
+        'right': ['l_x_plus', 'r_x_plus'],
+        'pageup': 'l',
+        'pagedown': 'r'
+    }
+
+    input_norm = input_str.replace('input_', '').replace('_axis', '').replace('_btn', '')
+    return generic_event_map(input_norm, ra_event_map)
+
+
+def ra_input_parse(key: str, value: str):
+    """
+    For a RetroArch input option line ('key = value'), returns a triplet consisting of
+     - the type of the input (button, hat, axis)
+     - the index of the input (button number, hat number, axis number)
+     - the input value associated: 1 for buttons, axis direction (-1/1), hat value (1,2,4,8)
+    Ex:
+      - ('input_a_btn', '1') -> 'button', 1, 1
+      - ('input_left_btn, 'h0left') -> 'hat', '0', 8
+      - ('input_r_x_axis_minus, -1) -> 'axis', 1, -1
+    """
+    try:
+        if key.endswith('btn'):
+            if value.startswith('h'):
+                input_type = 'hat'
+                hat_value = re.split(r'([0-9]+)', value)[1:]
+                input_index, input_value = int(hat_value[0]), JS_HAT_VALUES[hat_value[1]]
+            else:
+                input_type = 'button'
+                input_index, input_value = int(value), 1
+        elif key.endswith('axis'):
+            input_type = 'axis'
+            input_index, input_value = int(value[1:]), int(f'{value[0]}1')
+        else:  # unknown input
+            return None, None, None
+
+        return input_type, input_index, input_value
+    except ValueError as e:
+        return None, None, None
+
+
+def get_all_ra_config(def_buttons: list) -> list:
+    """
+    Reads the RetroArch's gamepad auto-configuration folder
+    and creates a list with of the configured joystick devices as InputDev objects
+    """
+    ra_config_list = []
+    # add a generic mapping at index 0, to be used for un-configured joysticks
+    generic_dev = InputDev("*", "*")
+    generic_dev.add_mappings(
+        {},  # no axis
+        {0: [(1, 'up'), (8, 'left'), (4, 'down'), (2, 'right')]},  # D-Pad as 'hat0'
+        {0: 'b', 1: 'a', 3: 'y', 4: 'x'}  # 4 buttons
+    )
+    ra_config_list.append(generic_dev)
+    js_cfg_dir = CONFIG_DIR + '/all/retroarch-joypads/'
+
+    config = ConfigParser(delimiters="=", strict=False, interpolation=None)
+    for file in os.listdir(js_cfg_dir):
+        # skip non '.cfg' files
+        if not file.endswith('.cfg') or file.startswith('.'):
+            continue
+
+        with open(js_cfg_dir + file, 'r') as cfg_file:
+            try:
+                config.clear()
+                # ConfigParser needs a section, make up a section to appease it
+                config.read_string('[device]\n' + cfg_file.read())
+                conf_vals = config['device']
+                dev_name = conf_vals['input_device'].strip('"')
+
+                # translate the RetroArch inputs from the configuration file
+                axis, buttons, hats = {}, {}, {}
+                for i in conf_vals:
+                    if i.startswith('input') and (i.endswith('btn') or i.endswith('axis')):
+                        input_type, input_index, input_value = ra_input_parse(i, conf_vals[i].strip('"'))
+
+                        # check if the input is mapped to one of the events we recognize
+                        event_name = ra_event_map(i)
+                        if event_name not in def_buttons:
+                            continue
+                        if input_type == 'button':
+                            buttons[input_index] = event_name
+                        elif input_type == 'hat':
+                            hats.setdefault(input_index, []).append((input_value, event_name))
+                        elif input_type == 'axis':
+                            axis.setdefault(input_index, []).append((input_value, event_name))
+                        else:
+                            continue
+                ra_dev_config = InputDev(dev_name, None)
+                ra_dev_config.add_mappings(axis, buttons, hats)
+                ra_config_list.append(ra_dev_config)
+            except Exception as e:
+                LOG.warning(f'Parsing error for {file}: {e}')
+                continue
+
+    return ra_config_list
+
+
+def filter_active_events(event_queue: dict) -> list:
+    """
+    Method to filter out the event if the event:
+     * fired once within the JS_POLL_DELAY_DEBOUNCE
+     * fired multiple times, last fire within JS_POLL_POLL_DELAY_DEFAULT
+    """
+    current_time = SDL_GetTicks()
+    filtered_events = []
+    for e in event_queue:
+        if event_queue[e][0] is None:
+            continue
+        
+        last_fire_time = event_queue[e][2]
+        repeat_count = event_queue[e][1]
+
+        if repeat_count == 0 or \
+             (repeat_count == 1 and current_time > (last_fire_time + JS_INIT_DELAY)) or \
+             (repeat_count > 1 and current_time > (last_fire_time + JS_REPEAT_DELAY)):
+            filtered_events.extend(event_queue[e][0])
+            event_queue[e][2] = current_time
+            event_queue[e][1] += 1
+
+    # remove any duplicate events from the list
+    return list(set(filtered_events))
+    
+def event_loop(configs, joy_map, tty_fd):
+    event = SDL_Event()
+
+    # keep of dict of active joystick devices as a dict of
+    #  instance_id -> (config_id, SDL_Joystick object)
+    active_devices = {}
+
+    # keep an event queue populated with the current active inputs
+    # indexed by joystick index, input type and input index
+    # the values consist of:
+    # - the event list (as taked from the event configuration)
+    # - the number of times event was emitted (repeated)
+    # - the last time when the event was fired
+    # e.g. { event_hash -> ([event_list], repeat_no, last_fire_time) }
+    event_queue = {}
+
+    # keep track of axis previous values
+    axis_prev_values = {}
+
+    def handle_new_input(e: SDL_Event, axis_norm_value: int = 0) -> bool:
+        """
+        Event handling for button press/hat movement/axis movement
+        Only needed when an new input is present
+        Returns True when 'event_queue' is modified with a new event
+        """
+        dev_index = active_devices[event.jdevice.which][0]
+        if e.type == SDL_JOYBUTTONDOWN:
+            mapped_events = configs[dev_index].get_btn_event(event.jbutton.button)
+            event_index = f'{dev_index}_btn{event.jbutton.button}'
+        elif e.type == SDL_JOYHATMOTION:
+            mapped_events = configs[dev_index].get_hat_event(event.jhat.hat, event.jhat.value)
+            event_index = f'{dev_index}_hat{event.jhat.hat}'
+        elif e.type == SDL_JOYAXISMOTION and axis_norm_value != 0:
+            mapped_events = configs[dev_index].get_axis_event(event.jaxis.axis, axis_norm_value)
+            event_index = f'{dev_index}_axis{event.jaxis.axis}'
+
+        if mapped_events is not None:
+            event_queue[event_index] = [ mapped_events, 0, SDL_GetTicks() ]
+            return True
+
+        return False
+
+    running = True
+    while running:
+        input_started = False
+
+        while SDL_PollEvent(byref(event)):
+
+            if event.type == SDL_QUIT:
+                running = False
+                break
+
+            if event.type == SDL_JOYDEVICEADDED:
+                stick = joystick.SDL_JoystickOpen(event.jdevice.which)
+                name = joystick.SDL_JoystickName(stick).decode('utf-8')
+                guid = create_string_buffer(33)
+                joystick.SDL_JoystickGetGUIDString(joystick.SDL_JoystickGetGUID(stick), guid, 33)
+                LOG.debug(f'Joystick #{joystick.SDL_JoystickInstanceID(stick)} {name} added')
+                conf_found = False
+                # try to find a configuration for the joystick
+                for key, dev_conf in enumerate(configs):
+                    if dev_conf.name == str(name) or dev_conf.guid == guid.value.decode():
+                        # Add the matching joystick configuration to the watched list
+                        active_devices[joystick.SDL_JoystickInstanceID(stick)] = (key, stick)
+                        LOG.debug(f'Added configuration for known device {configs[key]}')
+                        conf_found = True
+                        break
+
+                # add the default configuration for unknown/un-configured joysticks
+                if not conf_found:
+                    LOG.debug(f'Un-configured device "{str(name)}", mapped using generic mapping')
+                    active_devices[joystick.SDL_JoystickInstanceID(stick)] = (0, stick)
+
+                # if the device has axis inputs, initialize to zero their initial position
+                if joystick.SDL_JoystickNumAxes(stick) > 0:
+                    axis_prev_values[joystick.SDL_JoystickInstanceID(stick)] = [0 for x in range(joystick.SDL_JoystickNumAxes(stick))]
+
+                continue
+
+            if event.jdevice.which not in active_devices:
+                continue
+            else:
+                dev_index = active_devices[event.jdevice.which][0]
+
+            if event.type == SDL_JOYDEVICEREMOVED:
+                joystick.SDL_JoystickClose(active_devices[event.jdevice.which][1])
+                active_devices.pop(event.jdevice.which, None)
+                axis_prev_values.pop(event.jdevice.which, None)
+                LOG.debug(f'Removed joystick #{event.jdevice.which}')
+
+            if event.type == SDL_JOYBUTTONDOWN:
+                input_started = handle_new_input(event)
+
+            if event.type == SDL_JOYBUTTONUP:
+                event_queue.pop(f'{dev_index}_btn{event.jbutton.button}', None)
+
+            if event.type == SDL_JOYHATMOTION:
+                if event.jhat.value != SDL_HAT_CENTERED:
+                    input_started = handle_new_input(event)
+                else:
+                    event_queue.pop(f'{dev_index}_hat{event.jhat.hat}', None)
+
+            if event.type == SDL_JOYAXISMOTION:
+                # check if the axis value went over the deadzone threshold
+                if (abs(event.jaxis.value) > JS_AXIS_DEADZONE) \
+                        != (abs(axis_prev_values[event.jdevice.which][event.jaxis.axis]) > JS_AXIS_DEADZONE):
+                    # normalize the axis value to the movement direction or stop the input
+                    if abs(event.jaxis.value) <= JS_AXIS_DEADZONE:
+                        event_queue.pop(f'{dev_index}_axis{event.jaxis.axis}', None)
+                    else:
+                        if event.jaxis.value < 0:
+                            axis_norm_value = -1
+                        else:
+                            axis_norm_value = 1
+                        input_started = handle_new_input(event, axis_norm_value)
+                # store the axis current values for tracking
+                axis_prev_values[event.jdevice.which][event.jaxis.axis] = event.jaxis.value
+
+        # process the current events in the queue
+        if len(event_queue):
+            emitted_events = filter_active_events(event_queue)
+            if len(emitted_events):
+                LOG.debug(f'Events emitted: {emitted_events}')
+            # send the events mapped key code(s) to the terminal
+            for k in emitted_events:
+                if k in joy_map:
+                    for c in joy_map[k]:
+                        fcntl.ioctl(tty_fd, termios.TIOCSTI, c)
+
+        SDL_Delay(JS_POLL_DELAY)
+
+
+def parse_arguments(args):
+    parser = ArgumentParser(
+        description='Translate joystick events to keyboard inputs')
+
+    parser.add_argument(
+        '-d', '--debug',
+        action='store_true',
+        help='print debugging messages',
+        default=False)
+    parser.add_argument(
+        'hex_chars', type=str, nargs='+',
+        metavar='0xHEX',
+        help='list of mapped character codes to translate')
+
+    args = parser.parse_args()
+    return args.debug, args.hex_chars
+
+
+def ra_btn_swap_config():
+    """
+    Returns the state of 'menu_swap_ok_cancel_buttons' configuration for RetroArch
+    """
+    config = ConfigParser(delimiters="=", strict=False, interpolation=None)
+    with open(CONFIG_DIR + '/all/retroarch.cfg', 'r') as cfg_file:
+        config.read_string('[device]\n' + cfg_file.read())
+        try:
+            menu_swap = config['device']['menu_swap_ok_cancel_buttons'].strip('"') == 'true'
+        except Exception as e:
+            menu_swap = False
+
+    return menu_swap
+
+
+def get_hex_chars(key_str: str):
+    try:
+        if key_str.startswith('0x'):
+            out = bytes.fromhex(key_str[2:])
+        else:
+            out = curses.tigetstr(key_str)
+        return out.decode('utf-8')
+    except Exception as e:
+        LOG.debug(f'Cannot get hex chars from {key_str}, value ignored')
+        return None
+
+
+def main():
+    # install a signal handler so the script can stop safely
+    def signal_handler(signum, frame):
+        signal.signal(signal.SIGINT, signal.SIG_IGN)
+        signal.signal(signal.SIGTERM, signal.SIG_IGN)
+        if tty_fd:
+            os.close(tty_fd)
+        if SDL_WasInit(SDL_INIT_JOYSTICK) == SDL_INIT_JOYSTICK:
+            SDL_QuitSubSystem(SDL_INIT_JOYSTICK)
+        SDL_Quit()
+        LOG.debug(f'{sys.argv[0]} exiting cleanly')
+        sys.exit(0)
+
+    debug_flag, hex_chars = parse_arguments(sys.argv)
+    if debug_flag:
+        LOG.setLevel(logging.DEBUG)
+
+    signal.signal(signal.SIGINT, signal_handler)
+    signal.signal(signal.SIGTERM, signal_handler)
+    # daemonize after signal handlers are registered
+    if os.fork():
+        os._exit(0)
+
+    try:
+        tty_fd = os.open('/dev/tty', os.O_WRONLY)
+    except IOError:
+        LOG.error('Unable to open /dev/tty', file=sys.stderr)
+        sys.exit(1)
+
+    curses.setupterm()
+    mapped_chars = [get_hex_chars(code) for code in hex_chars if get_hex_chars(code) is not None]
+
+    def_buttons = ['left', 'right', 'up', 'down', 'a', 'b', 'x', 'y', 'pageup', 'pagedown']
+    joy_map = {}
+    # add for each button the mapped keycode, based on the arguments received
+    for i, btn in enumerate(def_buttons):
+        if i < len(mapped_chars):
+            joy_map[btn] = mapped_chars[i]
+
+    menu_swap = ra_btn_swap_config()
+    # if button A is <enter> and menu_swap_ok_cancel_buttons is true, swap buttons A and B functions
+    if menu_swap \
+            and 'a' in joy_map.keys() \
+            and 'b' in joy_map.keys() \
+            and joy_map['a'] == '\n':
+        joy_map['a'] = joy_map['b']
+        joy_map['b'] = '\n'
+
+    # tell SDL that we don't want to grab and lock the keyboard
+    os.environ['SDL_INPUT_LINUX_KEEP_KBD'] = '1'
+
+    # disable the HIDAPI joystick driver in SDL
+    if not(SDL_USE_HIDAPI):
+        os.environ['SDL_JOYSTICK_HIDAPI'] = '0'
+
+    # tell SDL to not add any signal handlers for TERM/INT
+    os.environ['SDL_NO_SIGNAL_HANDLERS'] = '1'
+
+    configs = get_all_ra_config(def_buttons)
+
+    if SDL_Init(SDL_INIT_JOYSTICK | SDL_INIT_VIDEO) < 0:
+        LOG.error('Error in SDL_Init: {SDL_GetError()}')
+        exit(2)
+
+    if LOG.isEnabledFor(logging.DEBUG):
+        sdl_ver = version.SDL_version()
+        version.SDL_GetVersion(byref(sdl_ver))
+        wrapper_version = '.'.join(str(i) for i in version_info if i is not '')
+        LOG.debug(f'Using SDL Version {sdl_ver.major}.{sdl_ver.minor}.{sdl_ver.patch}, PySDL2 version {wrapper_version}')
+
+    if joystick.SDL_NumJoysticks() < 1:
+        LOG.debug(f'No available joystick devices found on startup')
+
+    event_loop(configs, joy_map, tty_fd)
+
+    SDL_QuitSubSystem(SDL_INIT_JOYSTICK)
+    SDL_Quit()
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/scriptmodules/supplementary/runcommand/runcommand.sh b/scriptmodules/supplementary/runcommand/runcommand.sh
index 0285924ddc..875e3d4787 100755
--- a/scriptmodules/supplementary/runcommand/runcommand.sh
+++ b/scriptmodules/supplementary/runcommand/runcommand.sh
@@ -75,6 +75,7 @@ VIDEO_CONF="$CONFIGDIR/all/videomodes.cfg"
 EMU_CONF="$CONFIGDIR/all/emulators.cfg"
 BACKENDS_CONF="$CONFIGDIR/all/backends.cfg"
 RETRONETPLAY_CONF="$CONFIGDIR/all/retronetplay.cfg"
+JOY2KEY="joy2key_sdl.py"
 
 # modesetting tools
 TVSERVICE="/opt/vc/bin/tvservice"
@@ -107,6 +108,8 @@ function get_config() {
         iniGet "image_delay"
         IMAGE_DELAY="$ini_value"
         [[ -z "$IMAGE_DELAY" ]] && IMAGE_DELAY=2
+        iniGet "joy2key_version"
+        [[ "$ini_value" == "0" ]] && JOY2KEY="joy2key.py"
     fi
 
     if [[ -n "$DISPLAY" ]] && $XRANDR &>/dev/null; then
@@ -127,13 +130,13 @@ function start_joy2key() {
     else
         JOY2KEY_DEV="/dev/input/jsX"
     fi
-    # if joy2key.py is installed run it with cursor keys for axis, and enter + tab for buttons 0 and 1
-    if [[ -f "$ROOTDIR/supplementary/runcommand/joy2key.py" && -n "$JOY2KEY_DEV" ]] && ! pgrep -f joy2key.py >/dev/null; then
+    # if joy2key is installed run it with cursor keys for axis, and enter + tab for buttons 0 and 1
+    if [[ -f "$ROOTDIR/supplementary/runcommand/$JOY2KEY" && -n "$JOY2KEY_DEV" ]] && ! pgrep -f "$JOY2KEY" >/dev/null; then
 
         # call joy2key.py: arguments are curses capability names or hex values starting with '0x'
         # see: http://pubs.opengroup.org/onlinepubs/7908799/xcurses/terminfo.html
-        "$ROOTDIR/supplementary/runcommand/joy2key.py" "$JOY2KEY_DEV" kcub1 kcuf1 kcuu1 kcud1 0x0a 0x09
-        JOY2KEY_PID=$(pgrep -f joy2key.py)
+        "$ROOTDIR/supplementary/runcommand/$JOY2KEY" "$JOY2KEY_DEV" kcub1 kcuf1 kcuu1 kcud1 0x0a 0x09
+        JOY2KEY_PID=$(pgrep -f "$JOY2KEY")
 
     # ensure coherency between on-screen prompts and actual button mapping functionality
     sleep 0.3
diff --git a/scriptmodules/system.sh b/scriptmodules/system.sh
index 42aa61f063..c87f5c6a02 100644
--- a/scriptmodules/system.sh
+++ b/scriptmodules/system.sh
@@ -296,6 +296,14 @@ function get_retropie_depends() {
 
     [[ -n "$DISTCC_HOSTS" ]] && depends+=(distcc)
 
+    # 'python3-sdl2' might not be available
+    # it's packaged in Debian starting with version 11 (Bullseye)
+    local p_ver
+    p_ver="$(apt-cache madison python3-sdl2 | cut -d" " -f3 | head -n1)"
+    if [[ -n "$p_ver" ]]; then
+        depends+=(python3-sdl2)
+    fi
+
     if ! getDepends "${depends[@]}"; then
         fatalError "Unable to install packages required by $0 - ${md_ret_errors[@]}"
     fi