I had shaved my penis around 10 days prior to having 15-20 seconds worth of protected sex. I did this because I am uncircumcised and wanted to remove all the extra hair. Today I looked at my penis and saw that the shaving had left abrasions, which were also present when I had the protected sex. I am worried because the condom covered 95% of my penis, and perhaps left a bit of the base naked (not 100% sure about this). The base has abrasions, which most likely existed at the point of protected sex. By abrasions I am referring to these dots which you can see when the skin is stretched, it is the hole where the hair grows out of.
Questions -
Can you get HIV through abrasions on the penis which might have not been covered by a condom?
Should I get tested? Any chance I could have been infected with HIV?