I've always thought CSP as a robust design pattern where you have no shared state between components and they must communicate with each other using message passing. It also requires synchronous communication (rendezvous-style). If you follow those rules you can have a pretty robust system. Aside from these abstract rules, CSP has more formal research (algebra) but I'm not sure if there are any decent tools available.
TLA gives you a full toolbox and in theory can model whatever you can express. That's very different from a design pattern.