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WRT54G wireless router can only reach one portion of the LAN

I've segmented my LAN into two non-routable networks - this is probably a bad idea in the long run but for now I'm only looking to see if my wireless router can talk to two separate networks (it should or it wouldn't be a router).  My network diagram, briefly, is this:
     DSL               --> WRT54G      with route to 10.0.x.0 network --> Linksys switch   --> PCs on 192.168 network connected to Internet                                                                                    --> CISCO PIX  --> Local servers on 10 network (no connection to Internet)

The WRT54G basic setup page defaults to Automatic Configuration - DHCP
My efforts to change the basic setup to a Static IP (option 2 in the pull-down menu) failed, even after resetting the router to its factory defaults.  
However with the default basic setup I'm able to assign the router a static IP (  
I have disabled DHCP on both the DSL and the router and added a route to the WRT54G with a destination LAN IP of 10.0.x.0 and a gateway of (itself, the only IP that works).  
However the Linksys router can only ping machines on its own network - it can't reach anything on the 10 network.    The operating mode of the Linksys router is "Router" although I've tried "Gateway" with the same result.  

The CISCO PIX is my firewall - its inside interface is 10.0.x.1 and its outside interface is a routable IP assigned to me.  It was working with essentially the same wiring at my last location, however at my last location both the DSL's LAN IP and the wireless router were on the 10 network (the wireless router was acting as a WAP).  

I hesitate to change the IP of the DSL at my new location, since it's the source of my PPOE connection and I don't know much about how my ISP configures DSLs or the network, although I could learn how to set up the CISCO as the PPOE connection.   I've changed the static routes and ACLs on the CISCO to reflect the new routable /29 network, and hope to connect the servers and hosts behind the CISCO to the Internet, but that's another problem for another day.  

My DSL is supposed to be in bridge mode and I think it is now, although the VC Configuration page initially showed only PPOE active.  

How do I make the Linksys wireless router talk to two separate networks?

Linux Networking

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8/22/2022 - Mon

Clarification of my network diagram:  the wireless router is connected to a Linksys switch AND the CISCO PIX directly, so the diagram should look more like this:
DSL               --> WRT54G                --> Linksys switch   --> PCs on 192.168 network            --> CISCO PIX  --> Local servers on 10 network

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I realized the PIX internal interface has to be 192.168.1.x to talk to the DSL, so I can work on the WRT54G later.  My initial question was about network architecture, which you answered, and the WRT54G interface, which I can't test right now.  Since I was able to set up a route from to 10.0.x.0 on the wireless router, I should get an icmp response on it from any host in the 10 network. I wasn't getting a response from the PIX, which was my concern at the time, but given the problems I'm having now, the PIX probably wasn't a good test subject.  

My new ISP recommended that I set up PPOE on the PIX so I did, but now it can't ping its outside interface, so I'll troubleshoot that next :(

can it be that the PIX filtered your response as a basic setting in its filters.
Your help has saved me hundreds of hours of internet surfing.

yes. because it's been filtering out all tcp connections on the outside interface ever since I established a pppoe connection - only udp (domain) is getting through.  so I'm starting another question