There is a new release of the open source receipt printing library escpos-php available from today. For composer users, it is available as mike42/escpos-php
This is the first release to drop PHP 5.3 support, which is good news for many.
The v2.0 release notes detail the changes and lists 10 additional printers tested out by the user base.
Please direct any bug reports to the issue tracker on GitHub. The escpos-php tag on this blog has some tips and examples.