Today I upgraded from Spring Security 3.1.4 with the separate java config dependency, to the new 3.2.0 release which includes java config. CSRF is on by default and I know
Although @rob-winch is right I would suggest to take token from session. If Spring-Security generates new token in SessionManagementFilter using CsrfAuthenticationStrategy it will set it to Session but not on Request. So it is possible you will end up with wrong csrf token.
public static final String DEFAULT_CSRF_TOKEN_ATTR_NAME = HttpSessionCsrfTokenRepository.class.getName().concat(".CSRF_TOKEN");
CsrfToken sessionToken = (CsrfToken) request.getSession().getAttribute(DEFAULT_CSRF_TOKEN_ATTR_NAME);