Welcome to the forums.
Since recovery disks for XP from HP are usually two disks.. one is the OS the other Driver / Software recovery.. you should be able to extract the drivers from the disk to a folder. From there, using NLite you can create a bootable OS disk that will use the system drivers instead of MS's default ones.
If your BIOS supports booting from a USB device.. you can use a USB flash drive to store SATA drivers (or RAID) for installing in XP. Also works if you purchase a USB floppy drive.
Btw.. what's the STOP error you are getting?