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Im not sure what do do next, how do I install the kernel?
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Actually, you don't. Or more acurately, you already have. When you did your initial install of Mandrake, you obviously installed a kernel. Your computer wouldn't run without it. What you need to do now it install the kernel source code from your CD (it should be an RPM file, so you can install it the same way you would any other RPM). Once that is installed, go ahead and try to compile ndiswrapper again. You don't need to mess with the kernel source code, it just needs to be present.
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Or do I download the newest kernel 2.6?
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You definitely do NOT want to do this unless you are planning on compiling a custom kernel. For ndiswrapper to compile and run correctly it needs the kernel source code for the version of kernel that is actually running. So if you downloaded the 2.6 source code but are running a 2.4 kernel, ndiswrapper isn't going to work. Heck, when I moved to 2.6.4 from 2.6.3 I had to recompile ndiswrapper.