I created a mirror from http://cscope.sourceforge.net/cscope_maps.vim and made it available on my repo (https://github.com/dr-kino/cscope-maps).
First, you need to install cscope. After, you need to put the follow lines on your .vimrc:
" Cscope Key Map
call plug#begin('~/.vim/plugged')
Plug 'dr-kino/cscope-maps'
call plug#end()
Open vim and run :PlugInstall
Now you are able to use the key bindings ctrl\ s, ctrl\ f, ctrl\ g, etc.
Do not forget to generate CSCOPE data base in your root project folder, otherwise this will not work.
Example (http://cscope.sourceforge.net/cscope_vim_tutorial.html):
find /my/project/dir -name '*.c' -o -name '*.h' > /foo/cscope.files
cd /foo
cscope -b
CSCOPE_DB=/foo/cscope.out; export CSCOPE_DB
BR