IIRC the modules are part of the default images and any USB storage device should auto-mount (media/sda*).
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I have got modprobe working (It was sd_mod I needed not sd) but my zaurus still doesn't auto detect my usb flash drive.
dmesg shows the following lines when I plug in my usb flash drive
usb 1-2: new full speed USB device using pxa27x-ochi and address 3
usb 1-2: no configuration chosen from 1 choice