Advice on how to proceed

Feeling numb and on my last leg
After over a decade of an abusive relationship I’m leaving him. We have 2 kids, 1 mine the other is ours. He has mental illness but his psychiatrist explained he uses this to his advantage as he is mostly behavioural and over the years has been inconsistent with his job making him completely unreliable. I have gone to study all the while he tried to sabotage this and while at home been physically, emotionally and psychologically abusive to the children and query inappropriate sexual disinhibition to his child that most times I don’t leave the kids with him, instead they stay with my parents, his parents or my sister. He has physically, mentally, financially and sexually assaulted where he would try to impregnate me throughout our relationship. When ever the police intervened he would be released the next day and able to return to the house. When I tried leaving I would be physically assaulted or threatened with my life and the very last time I tried he threatened the kids life and so I stayed. He requested we either get married or have a baby, I didn’t want to bring another child to this mess so we got married which I was required to pay for since he has no money. When we purchased a house I worked so hard to save and put in the 20% required while he put in 4 thousand dollars of his money and 5 thousand his parents gave from the wedding and since have paid the bare minimum on the house. What led to the separation was my eldest child self harming and I was told by the social worker that she has some trauma of the DFV. Neither of my children wants to live with him despite him having constant 1:1 talks with them threatening if you don’t tell your mum you want 50/50 I will do this and that which is the reason why my children are slowly disengaging from him because they don’t feel safe at an emotional level. He has constantly threatened he will get up to 60% of the house my lawyer has no DV background and I’m not sure how this works but I can prove how much I have put in to the house, I can prove from child services who was involved in our family that he didn’t care for the kids. I worked damn hard for my children for what I have now for them, everything I have done has been for them and I am so angry that he feels he has the right to rob me because despite the relationship and marriage it was never my idea I just did my best to survive. I can’t believe this is happening and I feel so lost. I have protected his name for so many years of the vile things he’s done because I felt at the end of the day he was still my child’s father, he was still someone’s son and if I filed sexual assault charges his family would also be implicated if his name is released on the paper. He has a good job now so I just assumed he would be able to look after himself now and not need me to financially support him anymore. What can I do at this point? I feel like I’m on the very last thread and losing hope. They say it’s just money but it’s so much more because I worked so hard for my kids while he inflicted his abuse to all of us, don’t we deserve better?