the iphones do not support messaging over the bluetooth like some androids do, plus they dont allow you to send contact photos and a few other small options.
the samsung galaxy s3 should partially work. its hard to say cause ive seen them work before with the text messages as in if you get one it will pop up and you can press the voice button and say "read text message" and it works but when you go to the messaging section it says not compatible.
i have also seen the opposite where the message pops up in the messaging section and you can manualy read them but if you use the voice commands it doesnt
work and says that the phone is not a compatible phone. both times being SGS3 and same things for the SGS4 and SGS2.
long story short, its a hit or miss with the androids and iphones dont work at all with that function. But i have found it not to be a big deal cause the messaging function
sucks anyways. You can only reply with the voice commands when in park and you can only choose between a set of like 10 messages. the only benefit is it reading your
text messages to you when you are driving.