Yes, but I can't remember the name.
There were 2 novels. In the first, the crew of the ship are thrown forward in time to a new age of magic. One of them goes to join the evil sorceror and army, while the others try to survive and find elves and suchlike. In the second, the son of one of the crew and an elf continues to fight. Ug, still can't remember the name. THe ship had some small fire-arms. There was an order of knights that had a magic cave that responded to vocal commands, but they didn't understand why it was.
Found it: Echos of the Forth Magic by R.A.Salvatore.