diff --git a/hal/src/generate/Instances.txt b/hal/src/generate/Instances.txt
index e7e9fea..bc30057 100644
--- a/hal/src/generate/Instances.txt
+++ b/hal/src/generate/Instances.txt
@@ -3,6 +3,7 @@
 kLanguage_Java = 3
 kLanguage_Python = 4
 kLanguage_DotNet = 5
+kLanguage_Kotlin = 6
 kCANPlugin_BlackJagBridge = 1
 kCANPlugin_2CAN = 2
 kFramework_Iterative = 1
@@ -41,4 +42,11 @@
 kADXL345_SPI = 1
 kADXL345_I2C = 2
 kCommand_Scheduler = 1
+kCommand2_Scheduler = 2
 kSmartDashboard_Instance = 1
+kKinematics_DifferentialDrive = 1
+kKinematics_MecanumDrive = 2
+kKinematics_SwerveDrive = 3
+kOdometry_DifferentialDrive = 1
+kOdometry_MecanumDrive = 2
+kOdometry_SwerveDrive = 3
diff --git a/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java b/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java
index c473181..c203213 100644
--- a/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/SPIJNI.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -61,4 +61,6 @@
                                                    double timeout);
 
   public static native int spiGetAutoDroppedCount(int port);
+
+  public static native void spiConfigureAutoStall(int port, int csToSclkTicks, int stallTicks, int pow2BytesPerRead);
 }
diff --git a/hal/src/main/java/edu/wpi/first/hal/sim/DriverStationSim.java b/hal/src/main/java/edu/wpi/first/hal/sim/DriverStationSim.java
index f87051f..d14af9f 100644
--- a/hal/src/main/java/edu/wpi/first/hal/sim/DriverStationSim.java
+++ b/hal/src/main/java/edu/wpi/first/hal/sim/DriverStationSim.java
@@ -79,6 +79,15 @@
     DriverStationDataJNI.notifyNewData();
   }
 
+  /**
+   * Toggles suppression of DriverStation.reportError and reportWarning messages.
+   *
+   * @param shouldSend If false then messages will will be suppressed.
+   */
+  public void setSendError(boolean shouldSend) {
+    DriverStationDataJNI.setSendError(shouldSend);
+  }
+
   public void resetData() {
     DriverStationDataJNI.resetData();
   }
diff --git a/hal/src/main/java/edu/wpi/first/hal/sim/mockdata/DriverStationDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/sim/mockdata/DriverStationDataJNI.java
index 2d41ca7..ec19735 100644
--- a/hal/src/main/java/edu/wpi/first/hal/sim/mockdata/DriverStationDataJNI.java
+++ b/hal/src/main/java/edu/wpi/first/hal/sim/mockdata/DriverStationDataJNI.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -49,5 +49,7 @@
   public static native void registerAllCallbacks(NotifyCallback callback, boolean initialNotify);
   public static native void notifyNewData();
 
+  public static native void setSendError(boolean shouldSend);
+
   public static native void resetData();
 }
diff --git a/hal/src/main/native/athena/AddressableLED.cpp b/hal/src/main/native/athena/AddressableLED.cpp
index 9ecc4c4..64b6457 100644
--- a/hal/src/main/native/athena/AddressableLED.cpp
+++ b/hal/src/main/native/athena/AddressableLED.cpp
@@ -9,6 +9,8 @@
 
 #include <cstring>
 
+#include <FRC_FPGA_ChipObject/fpgainterfacecapi/NiFpga_HMB.h>
+
 #include "ConstantsInternal.h"
 #include "DigitalInternal.h"
 #include "HALInitializer.h"
@@ -19,14 +21,6 @@
 
 using namespace hal;
 
-extern "C" {
-NiFpga_Status NiFpga_ClientFunctionCall(NiFpga_Session session, uint32_t group,
-                                        uint32_t functionId,
-                                        const void* inBuffer,
-                                        size_t inBufferSize, void* outBuffer,
-                                        size_t outBufferSize);
-}  // extern "C"
-
 namespace {
 struct AddressableLED {
   std::unique_ptr<tLED> led;
@@ -52,43 +46,6 @@
 }  // namespace init
 }  // namespace hal
 
-// Shim for broken ChipObject function
-static const uint32_t clientFeature_hostMemoryBuffer = 0;
-static const uint32_t hostMemoryBufferFunction_open = 2;
-
-// Input arguments for HMB open
-struct AtomicHMBOpenInputs {
-  const char* memoryName;
-};
-
-// Output arguments for HMB open
-struct AtomicHMBOpenOutputs {
-  size_t size;
-  void* virtualAddress;
-};
-
-static NiFpga_Status OpenHostMemoryBuffer(NiFpga_Session session,
-                                          const char* memoryName,
-                                          void** virtualAddress, size_t* size) {
-  struct AtomicHMBOpenOutputs outputs;
-
-  struct AtomicHMBOpenInputs inputs;
-  inputs.memoryName = memoryName;
-
-  NiFpga_Status retval = NiFpga_ClientFunctionCall(
-      session, clientFeature_hostMemoryBuffer, hostMemoryBufferFunction_open,
-      &inputs, sizeof(struct AtomicHMBOpenInputs), &outputs,
-      sizeof(struct AtomicHMBOpenOutputs));
-  if (NiFpga_IsError(retval)) {
-    return retval;
-  }
-  *virtualAddress = outputs.virtualAddress;
-  if (size != NULL) {
-    *size = outputs.size;
-  }
-  return retval;
-}
-
 extern "C" {
 
 HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
@@ -146,8 +103,8 @@
 
   uint32_t session = led->led->getSystemInterface()->getHandle();
 
-  *status = OpenHostMemoryBuffer(session, "HMB_0_LED", &led->ledBuffer,
-                                 &led->ledBufferSize);
+  *status = NiFpga_OpenHostMemoryBuffer(session, "HMB_0_LED", &led->ledBuffer,
+                                        &led->ledBufferSize);
 
   if (*status != 0) {
     addressableLEDHandles->Free(handle);
diff --git a/hal/src/main/native/athena/SPI.cpp b/hal/src/main/native/athena/SPI.cpp
index 80cbf09..37c5f0e 100644
--- a/hal/src/main/native/athena/SPI.cpp
+++ b/hal/src/main/native/athena/SPI.cpp
@@ -631,12 +631,21 @@
   return spiSystem->readTransferSkippedFullCount(status);
 }
 
-// These 2 functions are so the new stall functionality
-// can be tested. How they're used is not very clear
-// but I want them to be testable so we can add an impl.
-// We will not be including these in the headers
-void* HAL_GetSPIDMAManager() { return spiAutoDMA.get(); }
+void HAL_ConfigureSPIAutoStall(HAL_SPIPort port, int32_t csToSclkTicks,
+                               int32_t stallTicks, int32_t pow2BytesPerRead,
+                               int32_t* status) {
+  std::scoped_lock lock(spiAutoMutex);
+  // FPGA only has one auto SPI engine
+  if (port != spiAutoPort) {
+    *status = INCOMPATIBLE_STATE;
+    return;
+  }
 
-void* HAL_GetSPISystem() { return spiSystem.get(); }
+  tSPI::tStallConfig stallConfig;
+  stallConfig.CsToSclkTicks = static_cast<uint8_t>(csToSclkTicks);
+  stallConfig.StallTicks = static_cast<uint16_t>(stallTicks);
+  stallConfig.Pow2BytesPerRead = static_cast<uint8_t>(pow2BytesPerRead);
+  spiSystem->writeStallConfig(stallConfig, status);
+}
 
 }  // extern "C"
diff --git a/hal/src/main/native/cpp/jni/SPIJNI.cpp b/hal/src/main/native/cpp/jni/SPIJNI.cpp
index 27078fd..7962e21 100644
--- a/hal/src/main/native/cpp/jni/SPIJNI.cpp
+++ b/hal/src/main/native/cpp/jni/SPIJNI.cpp
@@ -394,4 +394,20 @@
   return retval;
 }
 
+/*
+ * Class:     edu_wpi_first_hal_SPIJNI
+ * Method:    spiConfigureAutoStall
+ * Signature: (IIII)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_SPIJNI_spiConfigureAutoStall
+  (JNIEnv* env, jclass, jint port, jint csToSclkTicks, jint stallTicks,
+   jint pow2BytesPerRead)
+{
+  int32_t status = 0;
+  HAL_ConfigureSPIAutoStall(static_cast<HAL_SPIPort>(port), csToSclkTicks,
+                            stallTicks, pow2BytesPerRead, &status);
+  CheckStatus(env, status);
+}
+
 }  // extern "C"
diff --git a/hal/src/main/native/include/hal/ChipObject.h b/hal/src/main/native/include/hal/ChipObject.h
index 9b321c2..d891ced 100644
--- a/hal/src/main/native/include/hal/ChipObject.h
+++ b/hal/src/main/native/include/hal/ChipObject.h
@@ -27,6 +27,7 @@
 #include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDutyCycle.h>
 #include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h>
 #include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h>
+#include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tHMB.h>
 #include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h>
 #include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tLED.h>
 #include <FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h>
diff --git a/hal/src/main/native/include/hal/SPI.h b/hal/src/main/native/include/hal/SPI.h
index 4f1815f..abee379 100644
--- a/hal/src/main/native/include/hal/SPI.h
+++ b/hal/src/main/native/include/hal/SPI.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2016-2019 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -244,6 +244,19 @@
  */
 int32_t HAL_GetSPIAutoDroppedCount(HAL_SPIPort port, int32_t* status);
 
+/**
+ * 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 HAL_ConfigureSPIAutoStall(HAL_SPIPort port, int32_t csToSclkTicks,
+                               int32_t stallTicks, int32_t pow2BytesPerRead,
+                               int32_t* status);
+
 #ifdef __cplusplus
 }  // extern "C"
 #endif
diff --git a/hal/src/main/native/include/mockdata/SimCallbackRegistry.h b/hal/src/main/native/include/mockdata/SimCallbackRegistry.h
index 7190dcf..3e1aeb0 100644
--- a/hal/src/main/native/include/mockdata/SimCallbackRegistry.h
+++ b/hal/src/main/native/include/mockdata/SimCallbackRegistry.h
@@ -74,7 +74,11 @@
 
   template <typename... U>
   void Invoke(U&&... u) const {
+#ifdef _MSC_VER  // work around VS2019 16.4.0 bug
+    std::scoped_lock<wpi::recursive_spinlock> lock(m_mutex);
+#else
     std::scoped_lock lock(m_mutex);
+#endif
     if (m_callbacks) {
       const char* name = GetName();
       for (auto&& cb : *m_callbacks)
diff --git a/hal/src/main/native/sim/SPI.cpp b/hal/src/main/native/sim/SPI.cpp
index 8c539d3..1c90a98 100644
--- a/hal/src/main/native/sim/SPI.cpp
+++ b/hal/src/main/native/sim/SPI.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -18,6 +18,8 @@
 }  // namespace init
 }  // namespace hal
 
+extern "C" {
+
 void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
   hal::init::CheckInit();
   SimSPIData[port].initialized = true;
@@ -63,3 +65,9 @@
 int32_t HAL_GetSPIAutoDroppedCount(HAL_SPIPort port, int32_t* status) {
   return 0;
 }
+
+void HAL_ConfigureSPIAutoStall(HAL_SPIPort port, int32_t csToSclkTicks,
+                               int32_t stallTicks, int32_t pow2BytesPerRead,
+                               int32_t* status) {}
+
+}  // extern "C"
diff --git a/hal/src/main/native/sim/jni/DriverStationDataJNI.cpp b/hal/src/main/native/sim/jni/DriverStationDataJNI.cpp
index 621650a..82433b3 100644
--- a/hal/src/main/native/sim/jni/DriverStationDataJNI.cpp
+++ b/hal/src/main/native/sim/jni/DriverStationDataJNI.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -14,6 +14,7 @@
 #include "CallbackStore.h"
 #include "edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI.h"
 #include "mockdata/DriverStationData.h"
+#include "mockdata/MockHooks.h"
 
 using namespace wpi::java;
 
@@ -448,6 +449,25 @@
 
 /*
  * Class:     edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI
+ * Method:    setSendError
+ * Signature: (Z)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setSendError
+  (JNIEnv*, jclass, jboolean shouldSend)
+{
+  if (shouldSend) {
+    HALSIM_SetSendError(nullptr);
+  } else {
+    HALSIM_SetSendError([](HAL_Bool isError, int32_t errorCode,
+                           HAL_Bool isLVCode, const char* details,
+                           const char* location, const char* callStack,
+                           HAL_Bool printMsg) { return 1; });
+  }
+}
+
+/*
+ * Class:     edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI
  * Method:    resetData
  * Signature: ()V
  */