It may not be exactly my area but I’m more than willing to help you with some advice. I really don’t think your father hates you. He probably just finds it hard to talk to you because of the past. He’s your father so I’m certain he loves you.
If you really want to get the conversation rolling maybe you should talk about things he likes. His work, his hobbies, his friends, his opinions of world, or whatever strikes his fancy. It’ll certainly get him talking and it will help you bond with your dad. You may even be able to relate with him on topics. It’s a conversation starter that’s more than mall chit-chat.
You should learn what triggers you both. Avoid topics or certain set offs that will lead to you two arguing. Whatever you know will upset you or him, don’t bring it up. At least in the beginning when you’re trying to have a relationship with him. The important thing is to avoid arguments.
Maybe you should bring up this issue your feeling to him. Tell him your fears and how you really want a relationship with him. He may be feeling the same way about you and if you bring it up you two may be able to start to figure out how to regain a relationship. Sometimes talking about the problem at hand is a solution in itself. Don’t give up on him. Just talk to him about it all.