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How to issue a MRS command to DDR3 SDRAM from AM335x

I checked TRM SPRUH73J and could find how to issue a MRS command only in the section of Self-Refresh Mode.

To issue a MRS command, does it require to exit sequence of self-refresh mode?
 
Our customer sets the reg_ddr_term and the reg_sdram_drive in SDRAM Config register, but the values do not seem to be reflected to DDR3 SDRAM.

Best regards,

Daisuke