Almost nobody ever gets HIV from a single heterosexual exposure; the large majority of heterosexual transmissions occur
in longstanding relationships
in which one partner unknowingly has HIV. All things considered, I would put the chance you caught HIV from this event as no higher than 1 in a million.
Since you're worried, have an HIV test in a few weeks. Stay relaxed in the meantime. It would be extremely unlikely you caught HIV even if no condom had been used.