Skeezyks is correct -- some parents' behavior makes their relationship to their children very complicated. Especially when that behavior is emotional or physical abuse. That is hard to address when you're just a kid and harder to overcome when you're an adult b/c you want your parent to own up to their abuse yet they never do.

It's good that you still communicate with your father. Maybe he realizes the impact his behavior's had on you, and is trying to repair it the only way he thinks he can by texting you? Clearly though, you have boundaries and he crossed them. So it's good that you keep your boundaries with your father very clear so that he doesn't cross them.

No, he will never change. My parents never changed. People don't change. All you can do is accept the past for what it is, and try to live the rest of your life for yourself. Not in guilt.