From memory, of working in a chemi lab where someone else was working with cyanide (it is useful in organic chemistry). The short answer is no.
The longer answer is that we were taught about two antidotes.
EDTA - which we didn't have because it was too expensive
Solutions A and B - which were solutions with Iron ions - cyanide forms a permanent bond with the Fe in the haemoglobin so you give it a different source of Iron. I do remember (vaguely) that the best form of Fe ion was one that is not that stable. (Possible Fe2+ - a while since I've done this). So the solution oxidises to Fe3+ which was not effective. So you had to mix the antidote on the spot, from two bottles, which I think were the Solutions A and B. However this is just a vague pointer for you to google the correct details.
Both of these were post-poisoning, not pre-poisoning.
I did skim a bit of Wikipedia
http://en.wikipedia.org/wiki/Cyanide_poisoning but didn't read in detail (so the details missing from my account may actually be there). An important point was that the cure can be as bad as the poisoning - especially if issued to someone who has not been cyanide poisoned. So if you took a pre-emptive dose, you'd be poisoning yourself with the antidote.
Does it have to be cyanide? I am just thinking of the plots in various detective novels, where someone has built up a tolerance to arsenic and when given a dose that would normally kill, survive it because of the tolerance. I suspect there are other poisons you can build up a tolerance too.