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Thanks. I have hplip installed on my Pi (version 3.21.2) and my printer is listed as being supported on the hplip support page. That page says Support Level is “Full” and Connectivity is “USB, Network”. So it seems that this should work; also the printer works fine over USB to my Windows laptops.
hplip seems to provide a number of command line commands with names like hp-probe and hp-firmware. I have not been able to get any of them to work over USB though; usually they return a message “Warning: No devices found on the ‘usb’ bus”.
Do you mean that “proprietary firmware” is needed to make the printer work with Linux?
There used (1970s maybe) to be a brand called Camp in the UK which I think was a blend of coffee and chicory as a liquid that you added hot water to. Awful stuff as I remember it. It may still be sold there for all I know.