Hello Aaron Kuo,
There seems to be indeed a target definition for the i.MX6 on the OpenWRT release, although this package is not supported by the i.MX6UL BSP. The target definition for the i.MX6 on the OpenWRT website seems to be defined for kernel 3.10 so it’s not compatible with the 4.1.15BSP Release but you should be able to compile it with the same toolchain or if you prefer you may use the toolchain from the Yocto BSP 3.10.XX ((Please note that the 3.10.XX BSP releases do not support the i.MX6UL) Either way you may extract the toolchain with the following instruction:
$ bitbake meta-toolchain
You may refer to the following Yocto training for more information.
https://community.nxp.com/docs/DOC-94035
For further information please refer to the OpenWRT website and it’s documentation:
https://wiki.openwrt.org/doc/hardware/soc/soc.freescale.imx
I hope this helps!
Regards,