well some people are blessed with the fairytale mother, not necessarily perfect in every way, but loving and giving throughout childhood at least. those people feel, somehow, that they have the right to tell others how they "should" behave towards their mother, who may not have been so free with her love in childhood, but who now knows which "buttons" to press and how to press them to engender guilt in their adult offspring. why would anyone want to treat another person in that way? not out of kindness for sure!
and yes, we all (mostly) wish we had the mother we could feel warm and generous towards. i think op would like to feel that way. but she's not getting the full package from her mum, who's being seriously over-demanding and seriously unkind to her.
i think there's a lot of good advice here (providing you ignore the fairytalers). i would personally suggest a one-to-two month "holiday". if not practical in reality, then a "virtual" one. tell your mum you'll be away for that time, and not able to pander to any of her needs. if it feels easier, tell her you're going on "a course". you can't tell her anything about it until you return. or "it's to learn how to look after you".
then, when you "return", give her a set of boundaries. you'll see her once a fortnight. you will not go into her house until it's clean and fresh. you'll take her out for as many hours as bags-of-rubbish she produces for you to chuck out. (maybe give her a pack of bags.) or, you'll spend a couple of hours or until she says something unpleasant! you'll take her visiting relatives when she's had a good wash. you'll leave her there for an hour or until you get a call to say she's upset someone.
remember, whatever you do for this woman will never be enough. it's possible, although unlikely, to change if you force the changes. and none of that is your fault.
maybe stay on this thread, for more ideas and for support.
and please don't feel guilty for taking control of your life. there's a reason it's called "your life". it's not called "your mother's life". she's made her decisions and dug herself a pit. you can help her dig her way out of it, but only if she's willing. absolutely no point in digger her out, she'll remake it the same way.
ps: i really think you should not entertain the idea of having her house cleaned in her absence, as i think that would be an infringement of her rights and anyway, according to those who understand, it undoubtedly wouldn't work.
but if, at some stage, she agrees to the idea, then maybe you could arrange for it. i'd say a company that deals with such things would work best. if you arrange "a cleaner" (a) s/he won't want to go into a smelly house, and (b) your mum will offend him/her and that'll be that.
nb: you are not her cleaner. better that you spend your energy on taking her out (or sitting with her in the garden, if she has one).
i really hope you're able to take control of this upsetting situation, and come out of it stronger and happier. i send you my very best wishes.