Wash the millets completely and drain the water. Cook on a medium flame with 1 ½ cup of fresh water. Cover the pot and simmer till completely cooked. Fluff gently and let it cool.
Heat oil in a pan, Add mustard, Bengal gram and black gram, cashews/peanuts and green chilli. Saute till dals turn golden, add the curry leaves and ginger.
Add turmeric and asafoetida. Add 3-4 tbsp of water and cook till water evaporates.
Turn off the heat and add the millets. Squeeze lemon juice and mix well.