As it turns out, the kernel was missing the ati-agp module. I started with a fresh 3.4f DVD install, then:
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# cd /usr/src/linux
# cat /proc/config.gz >.config
# make menuconfig
[select Device Drivers->Character Devices->ATI Chipset support, save & quit]
# make modules; make modules_install
I didn't go through the full kernel-update process, because the only thing I needed to change in the kernel was to build an additional module, i.e. the actual kernel is the same and doesn't need to be rebuilt, and GRUB doesn't need updating either.
I then had to run the acceleration manager again to select AIGLX. To get Compiz actually running in Gnome, I had to manually run the Compiz-Fusion icon and select Compiz as the window manager (just running compiz --replace didn't seem to work), and then add Compiz-Fusion Icon to the startup applications.
It turns out that the "ati" xdriver (not ati-drivers package) is actually a wrapper that loads "radeon" (link: http://wiki.x.org/wiki/radeon
), I currently have my xorg.conf setup to use the "ati" driver.