IANAL, but you should own the copyright on all the software you wrote unpaid, as well as the derivative copyright of everything that is based off of your initial software, which sounds like is pretty much the whole stack.

Let's try to list the options and see what optimizes for least bitterness/spite.

1. Leave the company to pave your own way.

  1.1 You're more successful than your father, but his company does well.

  - He's proud of your success

  - He's envious of your success


  1.2 You're more successful than your father, as the company flounders without you.

  - He's resentful of you betraying the company.

  - He's remorseful for not appreciating how valuable you were.

  1.3 You're less successful than your father.

  - You're resentful about your lack of stake in this success.

  - You're at peace, knowing your contribution wasn't necessary to the success of the company.

2. Lawyer up and fight for your right to the company/companies code base.

  2.1 Litigation is successful, and you're awarded meaningful compensation.

  - I only really see this souring relationships, but it might be mendable in the future, if you continue to grow the company.

  2.2 Litigation is unsuccessful.

  - Relationships are still soured, but nothing to show for it.

3. Continue status quo.

  - Your dad comes to value your inputs, and eventually rewards your diligence. I think this is unlikely, unless something indispose him from working.

  - Your difference in vision becomes more frequent, until you can't work with him anymore.

  - You continue with ownership limbo, as your bitterness about the situation grows.

There are probably situations I haven't accounted for, and the probabilities of these outcomes are largely dependent on you, and your dads personalities. My own bias is probably showing, but I think your best option is to leave the company, and forge your path.