Hi, i've worked with termal printers and raspberry pi for another project.
The drivers don't exists, so the solution is to write a script to use the esc-pos protocol directly from the serial/usb port.
I can give you a test program tomorow, to see if the library i've writed for the others printers (Epson TM-III , Epson TM-V) works.
For advanced functions like graphics and codes (qr - barcode) i need more time to find and code the tecnical documentation of the printer.
The script is in Node.JS