Testing and diagnosis are important issues in system-on-chip (SOC) development, as more and more embedded cores are being integrated into the chips. In this paper we propose a built-in self-test (BIST) and self-diagnosis (BISD) scheme for embedded SRAMs, suitable for SOC applications. It supports manufacturing test as well as diagnosis for design verification and yield improvement. With low hardware cost, our memory BISD approach can handle various types of SRAM, including pipelined, multi-port, and multi-clock architectures. In addition, a test scheduling methodology and a BISD compiler are also implemented, which reduce the testing time as well as test development time.