I have WPA working with a agere/orinoco card the steps required are:
1. Use a 2.6.28 (or above) kernel (I am using linux-image-2.6.28-11-generic 
from Jaunty 9.04 on an Intrepid system).
2. Copy "agere_sta_fw.bin" (the uncorrupted 65046 bytes version) into 
/lib/firmware/
3. Eject and re-insert the card (sudo pccardctl eject; sudo pccardctl insert), 
dmesg should now report that the firmware has loaded and that the card can do 
WPA

I found that WPA2 does not work so you may need to set you access point
to 'WPA/WPA2 personal' or 'WPA personal'. I have only tested the card
with two routers, a Linksys WRT54GL with Tomato firmware and a Linksys
WRT54G v5, once these routers were set to 'WPA/WPA2' they both worked
without issue (with wicd set to use the wext driver). It may be worth
trying a different router as it maybe the Orinoco Silver/Gold card does
not like your router for some reason.

-- 
Kernel oops loading Agere firmware (orinoco module)
https://bugs.launchpad.net/bugs/315489
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