Install the RPM file madwifi-*.i386.rpm (or x86_64 respectively) plus the RPM kernel module packages (kmdl) appropriate for your kernel version and architecture, madwifi-kmdl-*.rpm and madwifi-hal-kmdl-*.rpm.
Use `uname -r` to determine which kmdl you need to download. If you use a depsolver like smart/yum/apt, all you have to do is point it to ATrpms and use
# smart install madwifi madwifi-kmdl-`uname -r`
Replace smart with yum or apt as appropriate. Note that you will have to install a new pair of madwifi*-kmdl packages for each kernel update, as the depsolvers aren't yet capable to automate this.
Read up more details at madwifi.org
You can download the respective rpms from http://atrpms.net/dist/el4/madwifi/ directly and install via:
# rpm -ivh madwifi*.rpm
After you have installed madwifi, reboot and the HAL (Hardware Abstraction Layer) deamon should automatically pick the card up for configuration. If you skip this configuration on boot, you can set up networking as below: