New to ODrive: Which function call the encoder update()?

I am reading the source code and wondering which function calls the Encoder::update()?

Your question is a little vague. Are you wanting to know what function is used to poll the encoder position?

I guess a better question would be, what are you trying to accomplish?

Here is the call stack for the idle loop:

There would be a similar one when other states are running, they trace a similar path from a different state in run_state_machine_loop.

Get it. Thanks ~
By the way, how did you make this figure? Are you using the Eclipse IDE?

I’m using the cortex-debug extension in VSCode.