Lantronix just announced the xPico Wi-Fi Tower board. With the xPico Wi-Fi you can add 802.11b/g/n capability to any microcontroller based system. The xPico Wi-Fi offloads the networking engine (TCP/IP stack, web server, socket connections, etc) so that there is "zero host load" on the microcontroller. If you can send data out the UART, you can be on the Wi-Fi network.
With SoftAP capability, the xPico Wi-Fi can simultaneously connect to an infrastructure network as well as be an access point for devices to connect to. Here's a video showing that capability:
The Tower board makes it easy to prototype with your favorite Freescale microcontroller. We have also written some example Labs to get you started quickly. You can download the Product Brief here: http://www.lantronix.com/pdf/xPico-Wi-Fi-TowerMod_PB.pdf
The Lab Guide for the Tower board is here:
And the CodeWarrior source code examples are here: