Try installing kernel-devel rpm package to match that version...
You should be able to just type...
yum install kernel-devel
They try to rebuild ndiswrapper. Alternatively, read up on the Livna repository... http://rpm.livna.org/configuration.html#Core5
After you type
rpm -ivh http://rpm.livna.org/livna-release-5.rpm
...you may be able to install a precompiled ndiswrapper.
yum install ndiswrapper
Many times, errors when you try to compile programs are because certain other libraries or source code is not installed. In the case of the kernel, you'll have "kernel" package with the binary, and "kernel-devel" with the source and configuration, in case other programs need to look at how your kernel was compiled, so to say.