Kax:
First of all, I have to say how sorry I am that you're going through this. But looking to your future... do you want to look back at these years and say "I was the kid whose dad abused him", or do you want to be "the kid who stood up for himself and got help"?

Nobody should ever hurt you like that. Definitely talk to your counselor or maybe your grandparents? But whoever you talk to, be sure to remind them that if they are willing to help, then they have to be willing to do MORE than just talk to your dad -- that would make it worse, so you have to be sure they will take it as far as it needs to go to get you into a better situation.