I am in a similar position to you and really feel for you as it can be very difficult at times.
Financial side, you must get legal help. One thing to bear in mind is that the government are stopping legal aid in April for some family matters and divorce/separation where there is no physical violence is one area.
Also get an idea on what benefits you will receive and maintenance payments.
Counselling is a must in my view. It really does help and if your anything like me, my brain is Swiss cheese most of the time! It helps put things in order in your head, so at least you can think straight! It has also helped me to see that divorcing is the right thing to do and I have been given the tools and confidence to allow his bullying wash over me.
In the end I am the one that has to move out, but I think this is a good thing as it will be my place and not his and will not have the associated memories.
We have a joint mortgage and will have to sell the house as neither of us can really afford it. (Well he could, but is up to his ears in debt that I didn't know about!)
He refuses to pay maintenance (as he sees it he is paying me and not to help look after dd) and sell the house, so court is my only route.
Like you, I hoped he would leave, but it has not worked out that way!
Stay strong, get legal and emotional help.