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I know first hand how hard it is to juggle generations. My grandmother lived with us for many years. My mother would do it all again in a heartbeat, but it did take its toll on her. Grandmum was self-centered, let her daughters know that they were servants while her sons were kings, and wanted my mother by her side every minute. Three generations under one roof is always challenging.
I do agree with Lynn: if your mother is capable of understanding, it would be good to set limits and have a review of good manners. You should be assisting her, not waiting on her. Even seniors can become spoiled.