Funny, just today I finished reversing a similar toy printer, the "bear" printer, not the "cat" one, and writing a driver/library for it in Rust just for the sake of finally learning a bit of it.

Looking at the code you shared, it seems like the cat has quite a different protocol than the bear. The opcodes seem different, and there seems to be some sort of crc happening that is completely absent in the bear. So I doubt my code will work without major adjustments.

In case you missed it, the first link you shared also has a "test unknown printer", so maybe yours is just a minor hardware iteration but might work nonetheless!