Hi,
        I have this problem as well. 
Hardware is:

Atheros Communications Inc. AR5008
Atheros AR5416 MAC/BB Rev:2 AR5133 RF Rev:81

Kernel:Linux 2.6.32.7 #2 PREEMPT Thu Feb 4 14:19:02 PST 2010 i686 GNU/Linux

driver is supplied with kernel.

I used to think it had to do with returning from suspend to ram.
Because on return it will never initiate a scan for new AP's.
But it hung the other day wen the machine was left running and moved
to a new location, scan worked like it should when the lease expired
and froze the machine.
The panic can be caused by starting wpa_gui and requesting a scan.
Sometimes it works, some it crashes the machine. I'll see if I can 
find a backtrace, or make one.

Thanks, mark
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