There are surprisingly little utilities out there for interacting with TPM 2.0 devices. This repository currently holds a single program, but more might be added in the future.
You'll probably need Linux 4.0 or higher.
See also Linux Kernel Bug 98181
A simple tool with which you can test whether your TPM 2.0 device is
functioning. It will output the raw response to a couple of
TPM_CC_GetCapability requests.