Tactics and the Experience of Battle in the Age of Napolean by Rory Muir seems like it may be what you are looking for. It is less a 'grunts eye' view of what battles are like than what you may be looking for, however, but it does a good job of grounding its arguments in the immediate facts of the battlefield rather than abstracted ideal tactics. It describes a number of the basic mechanics of battles (the the fact troops, once they start firing, tend to keep firing, the importance of the first volley, the difficulty and peril of sophisticated maneuvers in front of the enemy, etc) and their implications. It also reviews the role of all arms of the service and different levels of command, and relating these to the immediate experience of battle. This gives a more imeediate grounding to the discussions of column versus line and explaining forming squares than some traditional explanations of Napoleanic tactics. There is an illuminating break down of casualties that shows the importance of musketry as a killer, even though artillery and the bayonet were very decisive for reasons of morale. The book does a great job of describing how tactics are dictated by and constrained by the abovementioned basic mechanics, and how every level of command has to work to implement orders amid the chaos of battle. It is very focused on British sources and so it's hard to say how well it translates to other nations, particularly to the mass-conscript armies of the late wars on the continent.