The ion cyclotron emission (ICE) is triggered by the free energy from an anisotropic distribution of fast ions in cyclotron resonance with plasma waves. Several theories have been developed in the hope of using the spectrum featured by this emission to extract information on the fast ion population [3], but the strong coupling between the fast ions orbits, their energy profile and the plasma waves properties makes it difficult to disentangle the role of each actor in the emission. We present here the three main results which, once combined, have improved our understanding of ICE on ASDEX Upgrade: (1) the measurement of all the main types of ICE which enables a comparison of their properties and of their interactions, (2) the use of a fast acquisition system with an increased accuracy in the time and frequency processing of the signal where the fine structure of the emission is resolved and (3) the use of the Hamiltonian theoretical framework developed for ICRF heating. It unifies the analysis of large extension orbits and of their interactions with the plasma waves and reveals the respective roles of the fast ions (through their velocities) and of the waves (through their frequencies and wave numbers) in the resonance condition. If these results are confirmed on other machines, they could lead to the development of a non intrusive diagnostic for fast ions.