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Have a look for a file called /boot/config, if you grep it for usb it will tell you whether support is built in or modular. If it's modular you can load it with modprobe (check the manpages). If it's built-in, there could be some other problem.
You can also check the boot-up messages, "dmesg | less", for clues.
You won't need to upgrade the kernel but you might need to recompile to include USB support. If you have to recompile you might as well upgrade at the same time, 2.4.23 is current in most distros.
The hard part about recompiling is getting your configuration file right. Spend a lot of time finding out about your hardware, the more you know the easier that will be. After that it's just a half-dozen commands.
John
p.s. I highly recommend doing the kernel EXTRAVERSION step in the link above.
You don't need to recompile the kernel. There is usb support in modules. To get the relevant support as root do modconf which will bring up a menu go down the list and look for usb, select the modules you need from the list. Most of the explanations are with each.
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