In Mandriva 2006 and 2007, connect and power up your printer with a good ink cartridge and paper, boot up your version of Mandriva, if CUPS is already installed, it will identify the printer, if not, install CUPS via URPMI, (be aware, this is a long install with lots of dependencies), restart your PC CUPS should recognize the printer, you will be given the chance to confirm or change any options or uses on the machine. After CUPS initalizes the printer, install and run the latest HPLIP applet from HP,
HP Linux Inkjet Driver Project,
Chose a custom installation method to make it easier to install the 940/parallel printer.
Scott