Advice in coparenting

Things haven’t always been good with my daughters father. Not only was he abusive mentally, physically, emotionally and verbally throughout our relationship even after he still manages to make me feel like crap. When I found out I was pregnant I had already left him. Part of me regrets ever telling him I was pregnant but I knew I had to. During my pregnancy he was mean and called me names. The day after my daughter was born he got mad at me for nothing and wouldn’t help me. He has been so mean and idk what to do. I can’t afford a lawyer to fight for full custody and child support. To be honest I don’t even care about the money. I just don’t know what to do. I don’t want to continue dealing with him treating me so bad. My daughter deserves to have her dad in her life but why does it have to be so hard for me 😭. He says take me to court and to stop bitching. He knows I don’t have the money for that. He doesn’t even have money but his mom does and I know she will help him. He has threaten me with that and says he can take her away from me. Why does it have to be so hard. I just want to be happy with my baby girl. Any advice is welcome.