I've confirmed that 5.4 gives 'permission denied' and 5.3 seems to work
fine. I suspect that this is due to the lockdown patches in 5.4.

** Changed in: linux-raspi (Ubuntu Focal)
       Status: Triaged => Confirmed

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https://bugs.launchpad.net/bugs/1889926

Title:
  Can't access gpio mapped memory on focal armhf server on pi

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