do this for YOURSELF. not him. i would call him, and see how the conversation goes-say you are sorry he is dying but dont start asking him questions like "why were you never there? why did you abuse my mom? etc.." its not going to change anything.
you need closure for yourself. if he wants to meet up then go do it- but meet at a neutral place (restaurant) and just listen to him. I would have a hard time forgiving the man, but i would listen and have some compassion. You need to move on with your life and be happy with yourself in that you handled the situation maturely.
Im sorry he was never the dad you wanted him to be, he wasnt able to be that. But dredging up the past and making him grovel wont get you to feel any better. wish you the best-thats a hard thing to deal with.