Install libusb development files?
But why not use hplip binary?
apt-get install hplip
Install from source only if you need a newer version not present in your debian release.
Otherwise if it's because its not compile with the flags you need, you can:
apt-get source hplip
This will get the debian source package
to modify the flags or configuration, edit <dir_of_hplip_source_package>/debian/rules
and then rebuild, something like