It looks like usbd_setup_xfer is being passed a null pointer as the xfer handle by
something in athn (athn_usb_intr doesn't look right).
If you have a debug kernel you can work out source lines. For example, (taken
from an rpi)
db> bt
0xca973e3c: netbsd:plcomintr+0xc
0xca973e5c: netbsd:pic_dispatch+0x28
0xca973edc: netbsd:pic_do_pending_ints+0x380
0xca973fac: netbsd:irq_entry+0x60
db> print pic_dispatch+0x28
c01c16c8
db>
and then on a running system
zoom$ armv6--netbsdelf-eabihf-addr2line -a c01c16c8 -e netbsd.gdb
0xc01c16c8
/usr/src/sys/arch/arm/pic/pic.c:309
This is line for the return address.
Can you do this for the pc address (pc =c0310814 here) and the first entry
in the backtrace next time it happens