'tidying up' and 'being tidy' are two very different things.
you can force him to tidy up all you like - and he will tidy up - but it wont make him become a tidy person.
some people are tidy others are not, and no amount of shouting etc will make him 'learn'
all you can do really is teach him stuff like, how to put a wash on himself, how to iron, how to sort whites, how to organise stuff into groups etc, give him tips etc - but you cannot make him a tidy person.
also stop doing it for him, he will soon sort it out himself - he is a kid, and kids think things just get done, so show him they dont.
any don't start telling him he is psychologically damaged!
Just because someone isn't interested in tidying up and is happy with mess doesn't make them have issues!
in fact, i have found that it is the neat freaks that seem to be more psychologically damaged and more issues than the messy people.