You cannot raise a child and have a relationship with an unmedicated and untreated bipolar sufferer
I cannot tell you how much I agree with this.
OP I think he needs to move out for a while, hopefully during which time he will start taking responsibility for his OWN MENTAL HEALTH.
This is exactly what happened to me.
In my worst state, I didn't live at home. DH made me leave, or more accurately, didn't let me come home after 2 months on the psychiatric ward. BEST possible decision he could have made, actually. I couldn't see it at the time but DH could, and made the right decision for the DDs (5 and 2 at the time). And for us, as it turned out.
Living apart from my family for 18 months made me really understand my illness, how to live with it, how to self motivate, how to really look after MYSELF and not rely on someone else to do it.
Good luck OP, it is not easy.