The following thread provides some information about CAAM using
for application encryption / decryption.
https://community.freescale.com/message/362564#362564
As for OTPMK, please refer to i.MX6 Security Reference Manual.
Note, the OTPMK is factory burned. This means blobs MUST be generated on the i.MX6 :
the blob is the DEK (Data Encryption Key) encrypted with the OTP Master Key (programmed
in fuses on the i.MX6).
So, Your requirement to use own key to encrypt an image on an external server and decrypt
it on the i.MX6 is not supported.