In my very humble opinion, 매 and 마다 have same meaning "every", but since 매 has its origins from Chinese language - it's used mostly (or always?) with words that has Chinese origins, and 마다 соответственно with pure Korean words
예: 매일 - 날마다
ps: maybe 매 is mostly (or always) put in front and 마다 after the noun, but not sure.. better check grammar textbook))