how to add ipod?

[psywzrd]

I've read through the threads here and I can't find any specific information on whether or not you can add an ipod to the factory radio with 6 CD changer and XM. My installer tried it using a PAC Audio AAI-GM24 but it didn't work, so we temporarily went with a hard-wired FM modulator (which sounds like $hit). I saw the threads on the Neo but it's not exactly the solution I'm looking for. The way I currently have it hooked up is I have the ipod Universal dock velcroed to the flat area behind the gear shift. When the ipod is in the cradle it's basically straddled between the climate controls so I have no problem accessing them. There is a power cord and an audio cable running out of the back of the dock so that's how it's hooked up. Basically I want to hardwire the ipod to the radio since it sounds so bad through the FM modulator. Has anybody done this with XM and the 6 CD changer?