sleep sex =rape?

Hailey
My so and I were sleeping and I woke up to him snuggling a lil intimate on me so in turn since i felt frisky i initiated and gave consent. Next morning I found out he was sleeping and had sex in his sleep and doesn't remember having sex ... Since you have to be awake to give consent... DID I RAPE MY MAN?!? I mean next morning we laughed about it and got it on both awake but I'm curious 
(Note: I'm not joking. This actually happened)