Walls of Silence

It is said one's job as a parent is never done and I agree wholeheartedly with this statement. But one can't parent a child forever either and therein is the conundrum.
When one's child becomes an adult and one has not raised them as in the best of ways most of their lives; one is faced with a lot of drama.
I find myself, as a parent who made a ton of mistakes, with seeing my daughter suffer for those mistakes. Not just that, but since my failures(along with those of her father's) have instilled in her a deep lack of trust; she also will not talk to me about her struggles. She doesn't believe that there is nothing she could do that would make me stop loving her, and she doesn't believe I can help her. Her belief is founded in how she saw me most of her childhood. I have been profoundly depressed most of her life and when she needed me most, I was often too caught up in my own pain to notice, and now I fear the same thing is happening again. I have been going through an especially hard time with depression for over 4 months and I have just been struck with this odd feeling the last few days that something has happened, that I have once again missed some pivotal time event or struggle in her life. I see her hurting and I hurt for her, but we pass through our days in silence, pretending our respective walls of pain are merely small hills or bumps.
Trust is an issue for me as well, though I deal express it differently. I tend to give everyone trust just so I watch them break that trust proving to myself that I was right all along and no one can be trusted. My daughter on the other hand holds on to trust like it was precious jewels that she must guard with her life. She would rather die than relinquish it.
How can we learn to stop being the people our past has made us and learn to be the people God knows we can be?