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Here are some links to get you started with Mbed:
Is it possible to use the "Device Configuration" as we normally do with the PSOC 6 SDK in an MBed OS application?
The device configurator file "design.modus" is available as part of the Cypress targets package in Mbed-OS repository. For example, for CY8CPROTO_062_4343W, you can find this file here. Once you have enabled the peripherals you intend to use and then build your application, all relevant files will be generated.