What is the law on how to instruct a jury on abstract principles of law?

"It has long been the law that it is error to charge the jury on abstract principles of law not pertinent to the issues in the case. (People v. Roe (1922) 189 Cal. 548, 558 [209 P. 560].) The reason for the rule is obvious. Such an instruction tends to confuse and mislead the jury by injecting into the case matters which the undisputed evidence shows are not involved." (People v. Jackson (1954) 42 Cal.2d 540, 546547, 268 P.2d 6; see also, e.g.,

[55 Cal.4th 681]