电调驱动初始化不成功该怎么办？

先是PWM程序
void PWM(int16_t duty1,int16_t duty2,int16_t duty3,int16_t duty4)
{
tiM_SetCompare1(TIM1,duty1);
TIM_SetCompare2(TIM1,duty2);
TIM_SetCompare3(TIM1,duty3);
TIM_SetCompare4(TIM1,duty4);
}
void motor_init(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;
  TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
  TIM_OCInitTypeDef TIM_OCInitStructure;
  
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1,ENABLE);
  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA,ENABLE);
  
  GPIO_InitStructure.GPIO_Mode=GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Pin=GPIO_Pin_8|GPIO_Pin_9|GPIO_Pin_10|GPIO_Pin_11;
  GPIO_InitStructure.GPIO_OType=GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd=GPIO_PuPd_UP;
  GPIO_InitStructure.GPIO_Speed=GPIO_Speed_100MHz;
  GPIO_Init(GPIOA,&GPIO_InitStructure);
  
  TIM_TimeBaseStructure.TIM_ClockDivision=0;
  TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up;
  TIM_TimeBaseStructure.TIM_Period=1999;
  TIM_TimeBaseStructure.TIM_Prescaler=516;
  TIM_TimeBaseInit(TIM4,&TIM_TimeBaseStructure);
  TIM_Cmd(TIM1,ENABLE);
  
  TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM1;
  TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_High;
  TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;
  
  TIM_OC1Init(TIM1,&TIM_OCInitStructure);
  TIM_OC1PreloadConfig(TIM1,TIM_OCPreload_Enable);
  
  TIM_OC2Init(TIM1,&TIM_OCInitStructure);
  TIM_OC2PreloadConfig(TIM1,TIM_OCPreload_Enable);
  
  TIM_OC3Init(TIM1,&TIM_OCInitStructure);
  TIM_OC3PreloadConfig(TIM1,TIM_OCPreload_Enable);
  
  TIM_OC4Init(TIM1,&TIM_OCInitStructure);
  TIM_OC4PreloadConfig(TIM1,TIM_OCPreload_Enable);
  
  TIM_ARRPreloadConfig(TIM1,ENABLE);
  
}
然后是主函数
int main(void)
{
delay_init(72);
motor_init();
PWM(1999,1999,1999,1999);
delay_ms(1000);
PWM(0,0,0,0);
delay_ms(1800);
while(1)
{
  PWM(999,999,999,999);
}
}用示波器看根本没有波出来 单片机用的是STM32f407 电调是新西达30A 初始化从没成功过 哪位大神能帮忙纠正一下 或者提供个能用的初始化程序