Massive MIMO is a promising technology to enable a massive number of Internet of Things nodes to transmit short and sporadic data bursts at low power. In conventional cellular networks, devices use a grant-based random access scheme to initiate communications. This scheme relies on a limited set of orthogonal preambles, which simplify signal processing operations at network access points. However, it is not well suited for Internet of Things (IoT) devices due to: (i) the large protocol overhead, and (ii) the high probability of collision. In contrast to the grant-based scheme, a grant-free approach uses user-specific preambles and has a small overhead, at the expense of more complexity at access points. In this work, a grant-free method is proposed, applicable for both co-located and cell-free deployments. The method has a closed form solution, which results in a significantly low complexity with respect to the state-of-the art. The algorithm exploits the static nature of IoT devices through the use of prior channel state information. With a power budget of 1 mW, 64 antennas are sufficient to support 1000 nodes with 200 simultaneous access requests with a probability of false alarm and miss detection below 10-6 and 10-4, respectively.