I'm sorry things have turned out this way. I used to also have trouble connecting with my dad, especially when he was being condescending and unable to calm down and listen to me when I made mistakes. Our turmoil peaked one night when we actually wrestled on the ground, and not in a good way, and ended up ignoring each for a month. However, we've both made great efforts to change this in recent years and now have a great relationship.
So give your dad a chance. He may seem irrational and irritating right now, but I'm sure he has your best interest at heart. And I know it's easy to say "I'm right, and he's wrong", but don't be so hasty to shed all blame. If you and your dad want to have a better relationship, there must be understanding and compromise.
Hope this helped