Freemaster can be used with the i.MXRT1010 chip and the EVK. There are application notes that describe how to integrate Freemaster into any project. Check the Freemaster page for information.
Unfortunately the RT1010 SDK does not have the Freemaster tool integrated in the middleware package yet.
If you would like to experiment you could down
1) download Freemaster and integrate it directly
2) download the i.MXRT1020 SDK, selecting the Freemaster and Motor control. You could then port the code to RT1010.
Regards,
Philip