DMRconfig is a utility for programming digital radios via USB programming cable. It can read and write codeplug, configuration and contacts from and to the radio. Various TYT, Baofeng, Radioddity, Anytone, BTECH, Zastone and Radtel radios are supported.
Finally found this program which I can use to program my DMR radios using Linux! Even if you don't use it to program your radios, you can download the information in a human-readable form to document the set-up of channels and zones.