Ubuntu: megacli

Centos: /opt/MegaRAID/MegaCli/MegaCli64

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# Get all adapter information
megacli -AdpAllInfo -aALL

#Get all physical drives:
megacli -PDList -aALL
# useful filter for above command:
megacli -PDList -aALL | egrep -i '(size|enclosure|slot|media)'

# Configure a new raid 0 with 1 drive using the default enclosure and the third drive
megacli -CfgLdAdd -r0 32:2 -a0

# Configure a raid10 array with the third and fourth drives in one raid1 and the fifth and sixth drives in another raid1
megacli -CfgSpanAdd -r10 -Array0[32:2,32:3] -Array1[32:4,32:5] -a0

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