As I agree with what most of the others said, I wanted to add something.
My son HATED Tummy time and did not crawl...You thought you were hurting him and he seemed so scared....We had no clue what to think. He did start walking at about 15 months....but I was always still worried about the reactions he would have.
A few years later we discovered he has something called Sensory Integration Disorder or Sensory Processing Disorder...the reactions he had as a baby were actually because his sensory system was out of whack. If we had known back then, and started OT, we wouldn't of had some of the issues we did as he got older.
Now--on that note, Early Intervention WILL not help you here. they are attached to the school system, and will only help if they feel there is an educational need. This is something they do not tell you. And yes, it is free.
I would check with your health insurance about having an Occupational Therapist evaluate him, or pay out of pocket for an eval. This will tell you in a much better way if it's something along these lines, or something that they can help with.
I say all this as someone who went to everyone under the sun to help my child....If you have questions, feel free to email me.
Your child sounds like mine, and we figured out what it was and he has been getting help. He is now 6 years old and a great kid, who still needs OT off and on due to not figuring it out till he was 4 years old.