From what I can gather from the manual, all non-iPod devices must show up as a USB mass-storage device. The music must be in MP3, WMA, WAV, or AAC format.
My guess is that the file system would also have to be either FAT or FAT32.
Try connecting the droid by straight USB to the port in the arm rest NOT the one in the glove box compartment. Also don't use the iPod Y-cable, use the usb cable that came with the droid.
If the droid is unable to identify itself as a USB mass-storage device, I don't think you'll have any luck. (I know for windows mobile phones you need to download a mass-storage device emulator. Otherwise, it shows up as a composite device or something.)
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