he kind of started distancing himself away from me and sort of gave me the cold shoulder for a while. I guess i kind of did the same to him as well but i cant name specific incidents. He started hanging out with other people while i went into depression

This is in no way an attack on you and I am going form a small snippet by a stranger on the internet but this says it all.

People don't distance themselves from people for no reason and you admit being a party to it. People also don't fall into depression and abuse drugs/alcohol out of the blue.

Lots of people go through issues during their teen years. And honestly based on what you wrote with depression and admitting that you did pull away as well, the takeaway (based on vast life experience) is that it was probably more you pulling away than him. He picked up on it and continued to live his life.

Unless there is something you are not revealing about this 'falling out', at your age, depression is something that people rarely realize and does cause people to associate with other groups.

You may have not picked up on your depression but that doesn't mean others didn't and it was simply exacerbated by the falling out. This isn't your fault. This isn't his fault. You are 17, 17 year olds don't have enough life exercise to know who to effectually deal with these issues.

You removed yourself from the situation.

Not trying to make you feel bad. Just comes from life experiences. Then again, I am just a internet stranger.

Sounds like you were at a bad place in your life. Instead of being there for you he just lived his life. You cannot blame him for that, you are 17 for crying out loud. It doesn't sound like you explained that to him.

Again, there is no harm in reaching out to him to see if there is anything there. If you think you can keep up with him there is little damage that can be done. Either he tried to reestablish a friendship or not. But if you want a the friendship there is no reason why explain you were in a bad place at the time and want to try and hang out is a bad thing. He either says no, which you are where you are now, or he says yes and you get your friend back.