your dad has obvious issues and it shoud not be up to you to deal with them, you deserve a life paradox.

the only way you will get that is through therapy to heal your mental wounds [talking on forums like this is on the right path to that] and a place of your own or you coud house share if you feel you coudnt live on your own,there may even be group or singular housing in your area for people with mental illness.
woud your local social services be able to get you rehoused? do you think you woud be able to go to your GP to ask for counciling?