How to program GPIO on M4 on Apalis i.MX8

We have been using boot to qt and writing GUI applications on our Toradex i.MX8 which has been no problem.

Now we want to begin writing an application to run on an M Core alongside the GUI application. We want to load a simple Blink program onto Apalis i.MX8 to get started but it is not clear if there are any instructions or examples to follow. We have followed the setting up VSCode for cortex M4, and have found a guide for using FreeRTOS on imx8 M4 but it would be good to see something like a simple blink example so we can see the steps between downloading the code and seeing some output. Can anyone suggest how to get started with this?