No. At least none that I know of (and I’ve been searching).
NES appeared right after the 1983 video-game crash, the main reason why the market crashed was the flood of bad games, triggering the customers to not buy a single game, because there was no way to know what game was good.
So Nintendo when introducing NES (and all other consoles from the time, like Master System from SEGA), decided that only approved games would ever get released, AND making anything open source ever being a breach of contract with heavy fines, the reason for that is that by not releasing a public API, it would make “homebrews” harder to flood the market.
Today Nintendo is much more easy on the part of allowing the games, see the flood of crappy games on the Wii, but still no console allow you to use their “true” API, to avoid the flooding, there are even a issue when someone used a GPL engine (ScummVM) on Wii, causing trouble, because releasing the source of a game for a Nintendo system is a breach of contract, and GPL demands the source to be released, in that particular case the games were pulled of the shelves.
And no, XNA and PS3 Linux are not really console APIs, both impose severe limitations on what you can do with the console.
Maybe you can find homebrew, or reverse engineered games. But I guess that this is not what you asked.
Also the source of remakes and ports sometimes can be found, but these don’t use the console API.