Why does malloc() call mmap() and brk() interchangeably?

mmap (when used with MAP_ANONYMOUS) allocates a chunk of RAM that can be placed anywhere within the process's virtual address space, and that can be deallocated later (with munmap) independently of all other allocations.

brk changes the ending address of a single, contiguous "arena" of virtual address space: if this address is increased it allocates more memory to the arena, and if it is decreased, it deallocates the memory at the end of the arena. Therefore, memory allocated with brk can only be released back to the operating system when a continuous range of addresses at the end of the arena is no longer needed by the process.

Using brk for small allocations, and mmap for big allocations, is a heuristic based on the assumption that small allocations are more likely to all have the same lifespan, whereas big allocations are more likely to have a lifespan that isn't correlated with any other allocations' lifespan. So, big allocations use the system primitive that lets them be deallocated independently from anything else, and small allocations use the primitive that doesn't.

This heuristic is not very reliable. The current generation of malloc implementations, if I remember correctly, has given up altogether on brk and uses mmap for everything. The malloc implementation I suspect you are looking at (the one in the GNU C Library, based on your tags) is very old and mainly continues to be used because nobody is brave enough to take the risk of swapping it out for something newer that will probably but not certainly be better.

so why malloc calls mmap when it comes to allocate a large size of memory?

The short answer is for improved efficiency on newer implementations of Linux, and the updated memory allocation algorithms that come with them. But keep in mind that this is a very implementation dependent topic, and the whys and wherefores would vary greatly for differing vintages and flavors of the specific Linux OS being discussed.

Here is fairly recent write-up regarding the low-level parts mmap() and brk() play in Linux memory allocation. And, a not so recent, but still relevant Linux Journal article that includes some content that is very on-point for the topic here, including this:

For very large requests, malloc() uses the mmap() system call to find addressable memory space. This process helps reduce the negative effects of memory fragmentation when large blocks of memory are freed but locked by smaller, more recently allocated blocks lying between them and the end of the allocated space. In this case, in fact, had the block been allocated with brk(), it would have remained unusable by the system even if the process freed it.
(emphasis mine)

Regarding brk():
incidentally, "...mmap() didn't exist in the early versions of Unix. brk() was the only way to increase the size of the data segment of the process at that time. The first version of Unix with mmap() was SunOS in the mid 80's, the first open-source version was BSD-Reno in 1990.". Since that time, modern implementation of memory allocation algorithms have been refactored with many improvements, greatly reducing the need for them to include using brk().