What is the duty of a court to instruct a jury on every theory of defense supported by substantial evidence?

A trial court's duty is to instruct the jury on the general principles of law relevant to the issues raised by the evidence, including to instruct on every theory of defense supported by substantial evidence. (People v. Breverman (1998) 19 Cal.4th 142, 154.) And the court must give "pinpoint" instructionsinstructions relating particular facts to a legal issuemust be given when supported by evidence and requested by the defendant. (People v. Wilkins (2013) 56 Cal.4th 333, 348-349.)