Where is SDRAM initilization done?

I found the following sentences in “Embedded Peripherals IP User Guide”. It seems that the SDRAM controller do the SDRAM chip initialization. It seems that there is no need for software to do initialization. This is different from my experience on embedded software development. So I would like to have confirmation from experts. Thanks.

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The SDRAM controller behaves like simple memory when accessed via the Avalon-MM interface. There are no software-configurable settings and no memory-mapped registers. No software driver routines are required for a processor to access the SDRAM controller.