Here is the part of my debian/rules I used:

        ./configure $(confflags) \
                --enable-confdir=/var/lib/pcscd \
                --prefix=/usr \
                --disable-libhal \
                --enable-usbdropdir=/usr/lib/pcsc/drivers \
                INSTALL_PROGRAM="$(INSTALL_PROGRAM)" \
                CFLAGS="${CFLAGS}" \
                LDFLAGS="-lpthread"

I do not understand why the --disable-libhal did not work.

-- 
pcscd assert failure: *** glibc detected *** /usr/sbin/pcscd: free(): invalid 
pointer: 0x097c6e88 ***
https://bugs.launchpad.net/bugs/551940
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