Difficult life with mom

Life with my mom is so diffucult. She had quite bad mental illnesses like depression, anxiety, panic attacks and OCD which restrictions our family life extremely. She has those problems since before I was born. She treats me like a little kid. She never minds her own business, just mine and she is never satisfied with the way I do things. She is a perfectionist and she has just ONE way how to do things and she is in the opinion that this is the only right way to do it so I always get grounded when I do it a different way. She nearly never says that I did something well or sum. It makes me feel so insecure. She just critisizes me. Also I told her not to touch me a thousand times but she keepa doing it and doesn't respect me. She has a lot of problems dealing with her feelings and controlling them. She often ends up just screaming at me. She hit me twice in my life, once as a kid and the other time two months ago. We have stress quite often because of the way she acts (and because she thinks it's my fault) and it gets more and more difficult to accept her apologies because I know she won't change the way she acts. I also think that my dad is not enough defending me. I don't know why. He always tells me that I was right and thqt it wasn't my fault after my mom is away. My dad is also not liking her anymore she always just says what he has to do and she does nothing herself. They thought about my mom getting herself an own little apartment but she doesn't earn enough money to buy one. Everything got so bad since she lost her job after 33 years of having a safe workspace but she worked in customer care and her job got replaced by computers. Now she has problems finding a new job and is often bored. She doesn't like to be at home, she always wants to be away from here. I don't want to hate on her at all, I just want to mention how difficult it is to life together with her.