Learn deep firmware

[xXJRUSHMANXx]

Hello, I'm using RRF about a year or more. But I have no idea about how it works inside.
For example, I studied robotics and I know about the existence of the matrices (DH, Trans, Rot...)
My question is: did RRF use these parameters? There is Kinematics and dynamics matrixes?

How I can learn how RRF works from inside? I want to know all about internal folders, I want to understand the programs inside.
I was trying to found this information in RepRap.org.wiki, but I can't get it.

Does anyone have a source of all this information?

I hope not to disturb

Thanks

[Exerqtor]

@xXJRUSHMANXx The whole project is open source and avalible on github.

[droftarts]

@xXJRUSHMANXx See:
https://docs.duet3d.com/User_manual/RepRapFirmware/RepRapFirmware_overview
https://docs.duet3d.com/User_manual/Reference/Developers
https://docs.duet3d.com/User_manual/Reference/APIs

Ian