You did not infect yourself with HIV. Oral sex is not a risk, even with cuts or sores in your mouth. Protected sex is also not a risk - you are safe as long as the condom did not visibly break. The condom clearly slipped off his penis on withdrawal, and the head of his penis was covered during penetration.
NO disease has symptoms that show up within 2 hours, including HIV and STDs. The burning is probably from friction - it certainly has nothing to do with HIV as you didn't have a risk.