I feel for you there, I had depression when DS was smaller and used to try to get out of the house as much as possible to avoid being two of us alone together I suppose. Life is great for me now though and I have so much to look forward to, I really have found the light at the end of the tunnel.
I involve my DS in things I do like cooking, even from when he was little. I give him a blunt knife to cut mushrooms or let him stir stuff or make banana milkshakes with the stick mixer, teaching him the 'recipe'. If he was getting in the way when he was younger, I gave him cornflour and water with a drop of food colouring to stir. Really easy to clean up if it spills!
My DS is in charge of getting himself dressed and has been since he was about 2. I used to chose his clothes and put them down for him to get dressed, now he chooses his own. No breakfast until he's dressed, so sometimes I would sit down to breakfast first and then he'd hurry up. If that doesn't work, the threat of nursery/school in pyjamas usually works even if you have to pretend to be setting off (5 minutes early) and say you're taking them as they are.
DS is responsible for putting his clothes in his drawers and I am trying to get him to fold them.
DS is responsible for clearing his plate from the table, cleaning up anything he spills and helping with unloading the dishwasher. He should also tidy his room. I keep loads of cleaning cloths handy so he can access them and wipe up any mess.
We have had different special treat things like going out for breakfast, fish and chip supper, favourite cafes etc. It's usually my preference but I do sell the idea to DS so he thinks it's his.
For lazy lying down (works well at the beach or in bed), there's always the totally silly 'Which animal makes this noise when it farts?' game. This involves DS blowing a raspberry on my tummy and I guess which animal it is.
I make time each day for us to chat about our day, which is usually walking home from After School Club together.
Try to have a mixture of things that are fun for you and things that are fun for DS as well as things you both enjoy. Don't feel selfish at taking him to things you enjoy and explain that you have to share.