diff --git a/docs/M3_2_SDRAM_TIMING_IMPLEMENTATION.md b/docs/M3_2_SDRAM_TIMING_IMPLEMENTATION.md
new file mode 100644
index 0000000..453caa1
--- /dev/null
+++ b/docs/M3_2_SDRAM_TIMING_IMPLEMENTATION.md
@@ -0,0 +1,20 @@
+# M3.2 controller timing implementation
+
+The native controller now encodes the Rev-A **IS42S16320B-6TLI** 100 MHz / CL2 timing basis directly in RTL.
+
+Default guards:
+
+| Parameter | Default | 100 MHz interpretation |
+|---|---:|---|
+| POWERUP_CYCLES | 20000 | 200 us |
+| TRP | 2 | 20 ns |
+| TRCD | 2 | 20 ns |
+| TRFC | 7 | 70 ns |
+| TMRD | 2 | 2 clocks |
+| TWR | 2 | 20 ns |
+| CAS_LATENCY | 2 | CL2 |
+| REFRESH_INTERVAL | 780 | 7.80 us |
+
+The refresh interval is deliberately below the 7.8125 us average implied by 8192 refreshes / 64 ms.
+
+The controller now has explicit post-MRS and write-recovery states. These defaults are qualification parameters for the selected part and clock; board-level timing and post-route timing remain separate gates.
diff --git a/fpga/retrocore/platform/sdram_controller.v b/fpga/retrocore/platform/sdram_controller.v
index 140a635..eafab33 100644
--- a/fpga/retrocore/platform/sdram_controller.v
+++ b/fpga/retrocore/platform/sdram_controller.v
@@ -5,9 +5,14 @@
 module retrocore_sdram_controller #(
  parameter ADDR_WIDTH=25,
  parameter POWERUP_CYCLES=20000,
- parameter TRP=2, parameter TRCD=2, parameter TRFC=7,
+ // IS42S16320B-6TLI conservative 100 MHz / CL2 timing basis.
+ parameter TRP=2,       // tRP >= 18 ns -> 2 cycles
+ parameter TRCD=2,      // tRCD >= 18 ns -> 2 cycles
+ parameter TRFC=7,      // tRFC >= 60 ns; 7 cycles keeps margin
+ parameter TMRD=2,      // mode-register-set to next command
+ parameter TWR=2,       // write recovery before PRECHARGE
  parameter CAS_LATENCY=2,
- parameter REFRESH_INTERVAL=780
+ parameter REFRESH_INTERVAL=780 // 64 ms / 8192 = 7.8125 us -> <=781 cycles
 )(
  input wire clk,input wire reset,
  input wire req,input wire we,input wire [1:0] be,
@@ -21,7 +26,7 @@ module retrocore_sdram_controller #(
 );
 localparam ST_POWER=0,ST_PRE=1,ST_TRP=2,ST_REF1=3,ST_RFC1=4,ST_REF2=5,ST_RFC2=6,
  ST_MRS=7,ST_IDLE=8,ST_ACT=9,ST_TRCD=10,ST_READ=11,ST_CAS=12,ST_WRITE=13,
- ST_PRECHARGE=14,ST_WAITRP=15,ST_REFRESH=16,ST_WAITRFC=17;
+ ST_PRECHARGE=14,ST_WAITRP=15,ST_REFRESH=16,ST_WAITRFC=17,ST_MRD=18,ST_WR=19;
 reg [4:0] state=ST_POWER; reg [31:0] timer=0,refresh=0; reg [ADDR_WIDTH-1:0] la=0;
 reg lwe=0; reg [1:0] lbe=0; reg [15:0] lwd=0;
 task nop; begin sdram_cs_n<=0;sdram_ras_n<=1;sdram_cas_n<=1;sdram_we_n<=1; end endtask
@@ -36,7 +41,8 @@ always @(posedge clk) begin
  ST_RFC1: if(timer>=TRFC-1) begin timer<=0;state<=ST_REF2;end else timer<=timer+1;
  ST_REF2: begin sdram_ras_n<=0;sdram_cas_n<=0;timer<=0;state<=ST_RFC2;end
  ST_RFC2: if(timer>=TRFC-1) begin timer<=0;state<=ST_MRS;end else timer<=timer+1;
- ST_MRS: begin sdram_ras_n<=0;sdram_cas_n<=0;sdram_we_n<=0;sdram_a<=13'b0000000100000;refresh<=0;state<=ST_IDLE;end
+ ST_MRS: begin sdram_ras_n<=0;sdram_cas_n<=0;sdram_we_n<=0;sdram_a<=13'b0000000100000;refresh<=0;timer<=0;state<=ST_MRD;end
+ ST_MRD: if(timer>=TMRD-1) begin timer<=0;state<=ST_IDLE;end else timer<=timer+1;
  ST_IDLE: begin
    if(refresh>=REFRESH_INTERVAL) begin refresh<=0;state<=ST_REFRESH;end
    else begin refresh<=refresh+1;if(req) begin la<=addr;lwe<=we;lbe<=be;lwd<=wdata;state<=ST_ACT;end end
@@ -45,7 +51,8 @@ always @(posedge clk) begin
  ST_TRCD: if(timer>=TRCD-1) begin timer<=0;state<=lwe?ST_WRITE:ST_READ;end else timer<=timer+1;
  ST_READ: begin sdram_cas_n<=0;sdram_ba<=la[24:23];sdram_a<={3'b000,la[9:0]};sdram_dqm<=~lbe;timer<=0;state<=ST_CAS;end
  ST_CAS: if(timer>=CAS_LATENCY-1) begin rdata<=dq_in;timer<=0;state<=ST_PRECHARGE;end else timer<=timer+1;
- ST_WRITE: begin sdram_cas_n<=0;sdram_we_n<=0;sdram_ba<=la[24:23];sdram_a<={3'b000,la[9:0]};sdram_dqm<=~lbe;dq_out<=lwd;dq_oe<=1;state<=ST_PRECHARGE;end
+ ST_WRITE: begin sdram_cas_n<=0;sdram_we_n<=0;sdram_ba<=la[24:23];sdram_a<={3'b000,la[9:0]};sdram_dqm<=~lbe;dq_out<=lwd;dq_oe<=1;timer<=0;state<=ST_WR;end
+ ST_WR: if(timer>=TWR-1) begin timer<=0;state<=ST_PRECHARGE;end else timer<=timer+1;
  ST_PRECHARGE: begin sdram_ras_n<=0;sdram_we_n<=0;sdram_a[10]<=1;timer<=0;state<=ST_WAITRP;end
  ST_WAITRP: if(timer>=TRP-1) begin ready<=1;timer<=0;state<=ST_IDLE;end else timer<=timer+1;
  ST_REFRESH: begin sdram_ras_n<=0;sdram_cas_n<=0;timer<=0;state<=ST_WAITRFC;end