Can I divorce my dad? Is there enough reason?

I'm 15 years old, I live with my father. My mom won't take me back in. Don't ask why. I don't really know why. My dad has grabbed me and left bruises and he has pushed me into walls and hit me on the back of my legs and arms, DCF has been called four times. They didn't do anything about it because there wasn't enough evidence. My dad tells me that nobody wants me. I ran away 3 times now, I left everytime he would hit me and the last time I left was because he said he wanted to give me up. I want to do emancipation but my dad is going to make that nearly impossible for me to do. He won't let me leave the house besides to go to school so theres no way I can go to a courthouse and meet with an attorney. I want to live with another family member but, no one wants to fight with my dad so they won't do it. I want to divorce him and get adopted by my boyfriends mom. He is 17 and his mom is around 40, she already said she would do it. My boyfriend said that when he turns 18 he's getting me out of that house. I really need help because I need to get out of this house. It's like I'm living inside of a prison except it's my own home. I'm not allowed to do anything. Sure I'm not always innocent, I get an attitude but really I'm not that bad. I get good grades, I'm trying in school. Whenever my dad and I fight, I try to talk things out with him but it all turns out to be my fault in the end. He never admits when he's wrong. We've tried going to counciling. We've tried pretty much everything. I need a break. And overtop of that my ex boyfriend raped me and my dad wouldn't give me the time and space that I needed. I want to maybe get a restraining order on my ex but my dad says I should have done it sooner. He just doesn't support me at all. Anything I do is wrong in some way. I need help and I'm trying to get it. Can't they do anything? Can't I get out? Help me please.