You need to have a symbolic link from /lib/modules... to where the kernel source is located /usr/src...
You also need to have the kernel-source installed.
The kernel-source can either be installed through the mandrake controlcentre or by entering
urpmi kernel-source
To find out the kernel version you actually have, type:
uname -a
Assuming you have kernel version 2.6.8.1-24mdk the following wil set up the symbolic link for you:
ln -s /usr/src/linux-2.6.8.1-24mdk /lib/modules/2.6.8.1-24mdk/build
I am not certain, but I believe you need to have root priviledges when you enter the command above.
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