Was I wrong to dump him even though I love him and he loves me?

I love him, or at least I think I do. I miss him every day, and it hurts me that I'm not with him anymore. I can't stand the thought of him with anyone else. But that's not even the most of it, I miss...listening to his heartbeat, I miss having his arms around me, I miss his laugh, his smile, his heart, his love, his affection, his...him. :'( But the relationship was unhealthy. As much as I wanted to stay, tried to work things out (after the first breakup), wanted things to get better, something in my gut flat out rejected the idea. There was a lot of emotional blackmail going on. Manipulation. I didn't trust him because it seemed that he would say anything to get what he wanted at the time, guilt-tripping, promising things (events, engagements, condoms, etc.) and then back out at the last minute, with no concern for me or my well-being (I should have been more vigilant for myself honestly) berating me about my goals and dreams, etc. Denying having said or done things even minutes after he'd said them, etc. Just a lot of shady stuff. It's not that he hasn't improved or tried to change but after being disrespected like that, it just wasn't the same between us and I found myself being emotionally unavailable towards him at times. :( So long story short I left. Am I making a mistake? I know it's the right thing to do but I still love him and feel like I may live to regret it. He's begged me to come back, says he loves me, etc. It hurts to see him like that. Says he doesn't understand why I'd leave (even though he practically led me through the conversation about why we wouldn't last in the first place) and that he wanted me to fight for him.