tce-load -i compiletc net-snmp-dev cups-dev libusb-dev dbus-python3.8-dev tiff-dev

wget https://sourceforge.net/projects/hplip/files/hplip/3.18.6/hplip-3.18.6.tar.gz

cd hplip-3.18.6 [last version without libImageProcessor.so]

edit io/hpmud/musb.h
#include <libusb-1.0/libusb.h>

sudo ln -s /usr/local/include/python3.8/cpython /usr/local/include/cpython

cp /tmp/tcloop/libtool/usr/local/share/libtool/build-aux/config.* ./

CC="gcc -march=armv8-a+crc -mtune=cortex-a72 -Os -pipe" CXX="g++ -march=armv8-a+crc -mtune=cortex-a72 -Os -pipe -fno-exceptions -fno-rtti" ./configure --prefix=/usr/local --sysconfdir=/usr/local/etc --localstatedir=/var --disable-gui-build --disable-qt4 --disable-doc-build --with-cupsbackenddir=/usr/local/lib/cups/backend --with-cupsfilterdir=/usr/local/lib/cups/filter --with-icondir=/usr/local/share/applications --bindir=/usr/local/bin --with-mimedir=/usr/local/share/cups/mime --disable-scan-build

find . -name Makefile -type f -exec sed -i 's/-g -O2//g' {} \;
find . -name config.status -type f -exec sed -i 's/-g -O2//g' {} \;

make [2m 23.24s]
sudo make install

ls -l prnt/hpcups/libImageProcessor.so
lrwxrwxrwx    1 tc       staff           27 Sep 24 17:41 prnt/hpcups/libImageProcessor.so -> libImageProcessor-x86_32.so

/var/lib/hp
/var/log/hp/tmp

Edit /etc/hp/hplip.conf
bin=/usr/bin -> /usr/local/bin

Edit /etc/udev/rules.d/56-hpmud.rules
lp -> staff
/usr/bin/hp-config_usb_printer /usr/local/bin/hp-config_usb_printer

correct python location in:
/usr/local/share/hplip/base/magic.py
/usr/local/share/hplip/uninstall.py
/usr/local/share/hplip/upgrade.py
/usr/local/share/hplip/logcapture.py
/usr/local/share/hplip/doctor.py

$ hp-makeuri 192.168.1.170
...
CUPS URI: hp:/net/Officejet_6700?ip=192.168.1.170
SANE URI: hpaio:/net/Officejet_6700?ip=192.168.1.170
HP Fax URI: hpfax:/net/Officejet_6700?ip=192.168.1.170

$ hp-probe -bnet
...
Device URI                               Model           Name    
  ---------------------------------------  --------------  --------
  hp:/net/Officejet_6700?ip=192.168.1.170  Officejet_6700  HP86C02B

$ hp-info -dhp:/net/Officejet_6700?ip=192.168.1.170
...
error: No device found that support this feature