wpa_supplicant does not seem to run against kernel 2.6.24. With 2.6.22
everything works fine. In my case the problem appears with madwifi.

/sbin/wpa_supplicant -B -P /var/run/wpa_supplicant.ath0.pid -i ath0 -D
madwifi -C /var/run/wpa_supplicant

Log:
ioctl[SIOCSIWPMKSA]: No such device
ioctl[SIOCSIWMODE]: No such device
ioctl[SIOCGIFFLAGS]: No such device
ioctl[SIOCGIWRANGE]: No such device
ioctl[IEEE80211_IOCTL_SETPARAM]: No such device
ioctl[SIOCSIWAP]: No such device
ioctl[SIOCGIFFLAGS]: No such device
Initializing interface 'ath0' conf 'N/A' driver 'madwifi' ctrl_interface 
'/var/run/wpa_supplicant' bridge 'N/A'
Initializing interface (2) 'ath0'
EAPOL: SUPP_PAE entering state DISCONNECTED
EAPOL: KEY_RX entering state NO_KEY_RECEIVE
EAPOL: SUPP_BE entering state INITIALIZE
EAP: EAP entering state DISABLED
EAPOL: External notification - portEnabled=0
EAPOL: External notification - portValid=0
Could not configure driver to use managed mode
Could not set interface 'ath0' UP
WEXT: Operstate: linkmode=1, operstate=5
wpa_driver_madwifi_init: failed to set wpa_supplicant-based roaming
WEXT: Operstate: linkmode=0, operstate=6
Failed to initialize driver interface
Failed to add interface ath0
Cancelling scan request
Cancelling authentication timeout


** Changed in: wpasupplicant (Ubuntu)
       Status: New => Confirmed

-- 
wpa_supplicant fails after upgrade to Hardy
https://bugs.launchpad.net/bugs/207446
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