You should write a list - maybe in a journal. It'll be a huge one. Make a list of the times where he has really hurt you, let you down, deceived you, made you feel worthless.
Use this list to motivate you to plan your exit strategy.
I'm not going to lecture you, because I think you should still feel comfortable to vent here. I just want to see you stand up for yourself.
You've become so used to living in this misery, but this is not living. You have been enduring life when you should be enjoying life. It's time to strive for better.