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Yes it is possible to create custom profiles in PSoC 6. Most of the examples for the kit (CY8CKIT-062-BLE) that uses CapSense/RGB LED and BLE implement custom services for the CapSense UI and RGB color selection. For instance, refer to CE220167 PSoC 6 MCU with Bluetooth Low Energy (BLE) Connectivity: BLE with User Interface | Cypress Semiconductor
These examples should be correlatable with the one described in AN91162. Let me know if you still face any issues or have any questions.
Meenakshi Sundaram R