In a medium sized pressure cooker, add the toor dal, masoor dal and the barnyard millet, add 5 cups of water, turmeric powder and pressure cook for 3-4 whistles and set aside.
Mean while, in a deep pot, add the tamarind water, chopped vegetable - carrots, beans, drumstick, potatoes, green peas, salt, jaggery, sambar powder or bisibelabath powder, onions, tomatoes and cook until all the vegetables are cook tender.
Once the pressure is released from the pressure cooker, open it and add 1 cup of boiling water, salt and mix well till you get a nice mashed consistency of cooked dal and millets.
Now pour in the Veggies and sambar mix into the mashed dal and millet and mix it in. Check for salt and add more if needed. For flavour you can add a tsp of sambar powder on top.
To make the talippu /Tadka - Heat a small kadai and add ghee into it, once hot add mustard seeds and allow it to sputter fully. Next add in cumin seeds, curry leaves, dry red chilli and cashews. Turn off the heat at this stage and finally add asafoetida. Give it a good mix and allow the cashews to reach a golden brown color.
Add the thalippu on top of the prepared Millet sambar sadham and Garnish with fresh coconut or dry coconut and serve hot with appalam or your favourite side dish.