Typing "uname -a" or "cat /proc/version" should do the trick to tell you your kernel version.
It looks to me like this error is not about missing module dependencies. What the message tells you is that your "Module.symvers" file doesn't exist, so it doesn't have any information about the dependences and module-versions of the modules that came with your kernel. To my knowledge, this is an optional feature to build a kernel with, so it's possible Mandrake simply didn't enable it. It's a warning not an error, so I would just proceed with the make and make install, and see if it works.