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The programming of PSoC 4000 family is detailed in the following document:
The timing and commands across SWD can be executed by any CPU (with appropriate software) to program PSoC 4000. The main problem designers run into, is RESET timing. Study that section of the document carefully and you should be successful to Acquire the chip.
Good luck with your project.
Adding to BiBi_1928986's response, referring to this thread might add insight into the issue that you are facing - errors when programming CYBLE-012011-00 via SWD from external MCU with 001-84858_AN84858
Thanks and Regards,
Rakshith M B
Thanky you all for the answers and the documentation!
I found that the API from the other MCU for toggle pins was very "general" but this way the time necessary to put the pin high or low was 900usec.. It means about 1MHz!
I wrote different functions ( sda_hi(), sda_lo(), sck_hi() and sck_lo() ) writing directly the registers (without using API) and now everithing is working well!