I'm having this problem too. I'm trying to associate with a Fonera device. 
There are a few odd things about this situation.
Firstly, when I'm associated to the non-Fonera network called 'dazjorz', 
everything is fine. Then when I try to switch to the encrypted Fonera network 
called 'dazjorz2', I keep getting the following errors in wpa_cli:

<2>Trying to associate with 00:18:84:80:91:c2 (SSID='DaZjorz2' freq=2412 MHz)
<2>Authentication with 00:00:00:00:00:00 timed out.

Also, when I connect to the open  Fonera network called 'FON_dazjorz',
authentication fails.

Here comes the odd part. I rebooted the router, and I was able to
associate with it, until the Windows XP laptop associated - at that
moment, I got:

<2>Trying to associate with 00:18:84:80:91:c2 (SSID='DaZjorz2' freq=2412 MHz)
<2>Associated with 00:18:84:80:91:c2
<2>WPA: Key negotiation completed with 00:18:84:80:91:c2 [PTK=TKIP GTK=TKIP]
<2>CTRL-EVENT-CONNECTED - Connection to 00:18:84:80:91:c2 completed (auth) 
[id=0 id_str=]
<2>CTRL-EVENT-DISCONNECTED - Disconnect event - remove keys
<2>Trying to associate with 00:18:84:80:91:c2 (SSID='DaZjorz2' freq=2412 MHz)
<2>Authentication with 00:00:00:00:00:00 timed out.

So ath_hal does not crash for me, but I think this is related to this bug, 
anyway.
Oh, and by the way, I'm running Kubuntu Gutsy with all network managers 
switched off (I really dislike these things.)

-- 
authentication with 00:00:00:00:00:00 timed out wpa_supplicant failure ath_hal 
crash
https://bugs.launchpad.net/bugs/190321
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