This works with an updated voyage-0.3pre2. There are sources that say WPA could work with WDS, but the kernel panics for me when starting hostapd so I have been unable to test.

Use the following /etc/network/interfaces on both devices, changing the IP address and mac address appropriately.

<code>
# Used by ifup(8) and ifdown(8). See the interfaces(5) manpage or
# /usr/share/doc/ifupdown/examples for more information.
auto lo
iface lo inet loopback

auto eth0
iface eth0 inet manual

auto ath0
iface ath0 inet manual
        madwifi-base wifi0
        madwifi-mode ap
        wireless-essid voyage-wds
        wireless-channel 1
        wireless-key aaaaaaaaaaaaaaaaaaaaaaaaaa
        up ifconfig ath0 up

auto ath1
iface ath1 inet manual
        madwifi-base wifi0
        madwifi-mode wds
        wireless-key aaaaaaaaaaaaaaaaaaaaaaaaaa
        up iwpriv ath1 wds_add 00:00:00:00:00:00
        up ifconfig ath1 up

auto br0
iface br0 inet static
        address 192.168.0.254
        netmask 255.255.255.0
        bridge_ports ath0 ath1 eth0
</code>

If you would rather test from a script, the following works:

<code>
wlanconfig ath0 create wlandev wifi0 wlanmode ap
iwconfig ath0 essid "voyage-wds" channel 1
ifconfig ath0 up
wlanconfig ath1 create wlandev wifi0 wlanmode wds
iwpriv ath1 wds_add 00:00:00:00:00:00
iwpriv ath1 wds 1
ifconfig ath1 up
brctl addbr br0
brctl addif br0 ath0
brctl addif br0 ath1
ifconfig br0 192.168.0.254 up
</code>

However, oddly bringing up ath0 a bit later DOES NOT WORK for me, like this:

<code>
# DOES NOT WORK
wlanconfig ath0 create wlandev wifi0 wlanmode ap
iwconfig ath0 essid "voyage-wds" channel 1
wlanconfig ath1 create wlandev wifi0 wlanmode wds
iwpriv ath1 wds_add 00:00:00:00:00:00
iwpriv ath1 wds 1
ifconfig ath0 up
ifconfig ath1 up
brctl addbr br0
brctl addif br0 ath0
brctl addif br0 ath1
ifconfig br0 192.168.0.254 up
</code>