How to get out of and be over a love hate relationship?

I've been on and off from a relationship for 5yrs. It's gotten to the point where I don't know if I love him or I hate him. I find myself trying to please him in everything. He's hurt me emotionally over and over again. When things don't go or aren't done his way he finds the way to hurt my feelings. If there's something that bothers me or that I have something to complain about he makes me feel like I'm nuts and over dramatic. But again he hurts me when he isn't pleased, which is something that I never do to him. We broke off for six months with no contact whatsoever. I was doing great. Till one day he started texting me etc., I thought that maybe since "I was over him" we could stay as friends. When he wanted to see me to pretty much sleep with him I said no and what did he do, he sent me a semi naked pic of a girl that he had been talking to during that time. After a while I fell for him again and now I'm back at the same place I was before. I have soooo much resentment towards him but yet I can't find myself to be able to leave him. I know what needs to be done the problem is how not to fall back again.