You can get a flaked millet that comes out like porridge, it's not too bad. I eat puffed millet as well and baby should be fine with that as it goes quite soggy if you leave it in the milk for a bit or you could give it dry as a finger food or mixed with some yoghurt once baby is old enough for dairy.
Quinoa is high in iron as well and should be ok to use.
Have a look into baby led weaning as well, I highly recommend it, is a great way to get them eating lots of different foods and you don't need to faff about with purees and mashes.
Second the baby led weaning comment, especially as it sounds like you're waiting until 6 months anyway There are a couple of threads on it somewhere.
And remember they are still getting good iron from breastmilk or formula
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