Add support for configuring SPI Auto Stall Config (#2193)

wpilibc/src/main/native/include/frc/SPI.h

@@ -269,6 +269,19 @@ class SPI : public ErrorBase {
    */
   int GetAutoDroppedCount();
 
+  /**
+   * Configure the Auto SPI Stall time between reads.
+   *
+   * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for
+   * MXP.
+   * @param csToSclkTicks the number of ticks to wait before asserting the cs
+   * pin
+   * @param stallTicks the number of ticks to stall for
+   * @param pow2BytesPerRead the number of bytes to read before stalling
+   */
+  void ConfigureAutoStall(HAL_SPIPort port, int csToSclkTicks, int stallTicks,
+                          int pow2BytesPerRead);
+
   /**
    * Initialize the accumulator.
    *