I know the manual is really (really) annoying, especially in the audio section, but the 2010 manual lists a table on page 4-31.
It says USB supports FAT16 and FAT32 formats, with 8 folder levels of no more than 255 folders and 512 files for nav (dumb) or 8 levels with no more than 999 folders and files without nav (still dumb).
Page 4-61 lists iPod operation, and is really skimpy, but it covers some of this stuff.
OTOH, the 2009 has a CF slot with the same limitations as the USB, so an iPod is really the only option (though I have Christmas music on my CF card).
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