Don't know where else to turn.

I'm not sure where else to turn so I'm asking you ladies. I'm at the end of my rope with my marriage. I don't feel like getting into too many details but I'm done. I told my husband last night I was done and he lost his shit. Punched our door, stole my car and took off without telling me where he was going. He came back and completely lost it. Telling me he was going to kill himself if I left him infront of our child. Telling me he can't live without me or my son and he would rather end it all and I told him, calmly, that we can make it work without being together and he would still see our son. He has a lot of mental health issues and I'm worried he's a danger to himself so I told him I'd give him another chance. I feel so stuck and helpless. Basically I'm just wondering if you can call the cops in situations like this to help get him out of the house if you feel he's a danger to himself? I don't think he'd ever physically harm me but I worry about him. He was completely incoherent and crying and screaming infront of our son. He has no place to go and no money. I'm working but have barely any money because he hasn't been working and I've been scraping by on my check. We own a home together, dogs, and vehicles, etc. And if I leave I know I can technically get charged with abandonment. I have no money for a lawyer. He's literally sucked us dry.