Soak the Barnyard Millet flakes in 1 cup water with a pinch of salt for 1 minute. Drain and squeeze out all the water from the flakes.
Soak the flakes again in about 1/4 cup clean water for 10 minutes. Also soak the split black gram in warm water.
Heat oil in a wok and add mustard seeds to it. Once the seeds splutter, add the cumin seeds followed by curry leaves, green chilies and peanuts. Let them fry for a while, taking care not to burn the peanuts.
Now add the soaked and drained urad dal followed by the onions. Saute them for a minute or two. Add the carrots and green peas. Mix everything well, cover and cook for 1-2 minutes.
Add asafoetida , turmeric powder and salt followed by the soaked barnyard millet flakes and sugar.
Mix well , add a little water and cover. Let the upma cook on low heat for 1-2 minutes. Turn off the flame and squeeze the juice of 1 lemon all over the upma. Toss in some grated coconut and coriander leaves.