Yes, you need an IP-Bus convertor. The Pioneer decks with a "P" in the front (like Deh-P520, or Deh-P7600) have a funny little input thing in the back for CD changers, however, with that part you can use it as an Aux in. Go to...
http://www.cardomain.com/item/PIOCDRB10?ref=yhps
And get them...