Ok you need to tell the counsellor you are not fine. The counsellor did the right thing in the first instance by telling your parents. If your parents have not acted on your suicidality then that is negligence, bearing in mind the abuse you suspect, you need to go back to the counsellor or the Police or go to your GP.
If you end up suiciding that will break your family apart. I know you are afraid, is there a teacher you trust? Sounds like you have some good friends. This has to come out sounds like you have a whole load of issues going on at home and your family is already not functioning and you need help. and it is the counsellors job to make sure you get that help if your family won't. Last thing your family wants is a suicide, they don't understand this issue so they need to be explained by someone else how serious this is. A counsellor, GP, teacher.