Software-based self-test (SBST) is increasingly used for testing processor cores embedded in SoCs, mainly because it allows at-speed, low-cost testing, while requiring limited (if any) hardware modifications to the original design. However, the method requires effective techniques for generating suitable test programs and for monitoring the results. In the case of processor core testing, a particularly complex module to test is the cache controller, due to its limited accessibility and observability. In this paper we propose a hybrid methodology that exploits an Infrastructure Intellectual Property (I-IP) to complement an SBST algorithm for testing the data and instruction cache controllers of embedded processors in SoCs. In particular, the I-IP may be programmed to monitor the system buses and generate the appropriate feedback about the correct result of the executed programs (in terms of obtained hit or miss operations). The effectiveness of the proposed methodology is evaluated resorting to a sample SoC design.