@dk86,
I don't know if you recall Popeye in the cartoons or comics. He often said, "That's all I can stands, 'coz I can't stands no more!"
You have been taken advantage of for far too long. No matter what, it's time to leave the neglect and emotional abuse. Don't blame yourself. Don't underestimate the effort, as this will not be easy for you. If you do make this change, your life is bound to improve.