Choose the linux version from this download link: http://www.dell.com/support/drivers/us/en/555/DriverDetails/Product/poweredge-r210-2?driverId=XW4JG&osCode=RH60&fileId=3100461991&languageCode=EN
Since you are running CentOS, you may have to modify a few lines to get it to run on your server.
In RHEL 6.x (and by definition, CentOS 6.x), you will have to remove the tog-pegasus package because of some conflicts:
# yum remove tog-pegasus tog-pegasus-libs
(is it openpegasus in CentOS? Don't know)
Also, you will have to hack /etc/redhat-release and make the install script think you're installing on a RHEL system, so for RHEL 6.3, for example, just put in:
Red Hat Enterprise Linux Server release 6.3 (Santiago)
.