Was it rape?

Kesh🌸 • • Happily Taken💕💍• Diagnosed with PCOS 07/2017
This is my first time posting on here so I don't know if this is the right section for this topic, but please bare with me. I never talked about this with anyone because I'm scared of judgement, and being told that "because I said yes in the beginning, it's not considered rape". This might be a bit long, but I have been hitting my head against a wall for a few years about this because I felt that no matter what, I deserved it. 
When I was 20 (I'm 25 now), I was in a very toxic/abusive relationship. My ex use to drink all the time and then take his anger out on the dogs and I by putting his fist in our face. I was scared of him because he always told me that, "no one will ever put up with my stupid, ugly, disgusting ass" and I believed him because when someone tells you something enough times, you believe it. One day he got drunk, and wanted to have sex, but I didn't want to because I hated having sex with him when he was drunk ( I hated having sex with him even when he was sober), but I did anyways. In the middle of us having sex, I felt uncomfortable, scared, helpless, and told him to stop, but he kept going. I began to cry, beg and pled with him to stop and he told me to shut my whore mouth and take it like then slut I was. I screamed so loud, but no one came to save me. I hit him and that a huge mistake because he had no issue with hold me down and covering my mouth. I started to bleed because it was so painful, and he didn't care. After he was finished with me, he threw me to the group and told me to lick the blood off the ground because it was my mess and I had to clean it. I said no and he ended up beating me. That night (in the middle of winter) I left him, and never told a living soul what happened because I felt that "Hey you were the dumb idiot that stayed with him, so don't cry now because you deserved it all". I guess my question is, if you consent to sex and change your mind in the middle, is it still considered rape? Clearly there isn't anything I can do about it now, and this is something I'll live with for the rest of my life, but I am thankful I left and never looked back, and am thankful for my boyfriend now because he shows me what love is every single day. But could someone just help me understand if it is still considered rape, and help me have some peace now please? 
Thank you for reading.
P.S. I ended up calling animal control on him for the dogs, and they were taken and placed in great homes! Still in contact with the owners.