XP Mode can't use the Windows 7 installed drivers
You need to: (1) use the "Find Printer" setup function (which looks for a printer/USB connection via plug & play), or (2) install your printer drivers using the printer software disc through XP Mode
which, again, will typically look for a Printer/USB connection.
I haven't tried the wireless XP Mode printer driver
installation method (with which Windows 7 communicates with my HP Officejet 6500) so can't say whether this method will or will not work.
Hope this helps