The FYSETC S6 definitely has a serial port. I know, because I am the one who ported OnStep to it.
DFU is only used when flashing the firmware to the board. Once that is done, and you power cycle the board, you should have a serial port over USB, provided that you followed the steps that are on the OnStep Wiki correctly.
One possibility is to add the commands that Alain detailed to the
OnStep Python API
. Then, since you use Linux, you will have Python on it, and you can run the API from the command line.
But this is temporary. The bug needs to be fixed regardless, as Alain outlined.