Please read I kinda need advice please

I know im young im 15 gonna turn 16 in april but I have a bad life at home.. I wanna file for emancipation but I dont wanna leave my dad .. hes getting sicker he has diabetes and ik hes in pain ik he can get grumpy but my 6 year old brother I feel like is his pride and joy he doesnt care or doesnt even recognize me anymore all im really here for is to clean the house and cook anf babysit while he goes out and gets high with his girlfriend anyway I need advice do you think I should file for emancipation or am I overreacting. .. also he live with his mom (my grandma) ...duh... anyhoo she sit on her lazy fat ass anf makes me do everything...its not the fact that she needs help I would help her in a heartbeat like I do my other grandma and yea ... its that my dads mom is a fat lazy piece of shit she accuses me of having sex with every guy I see and she calls me a fat stupid worthless piece of shit shes even said I wasnt her granddaughter im just her sons kid.. anyway I cant live with my mom because her boyfriend sexually abused me for 5 years and doesnt believe me about and tells me im a liar so I dont really have anywhere to go..so what do you think I should I do? Do you think I should file for emancipation ... or no? Please help