No, no one has ever been infected via a wound on the penis when the penis was covered with a condom. You are definitely not the first person to have sex with a minor wound, either. It would have to be an open, actively bleeding wound that required medical attention in order to be a risk, in which case there's no way you would be having sex.
Condoms WORK at protecting people from HIV. You had no risk and there is absolutely no reason to test.