Time bench mark for center and peripherral

Dear,

My application scenario has two 580, one is central, another is peripheral,I want to have the two synchronized,or I want them to have the same time bench mark.
You know, when something happened at peripheral,and send the info to central, it is something like 0.1s later when the central received the info. So I need a time tag when peripheral sends info to central, then the central knows when the info happened, so the two need to have a time bench mark.

我的问题是how to have the two synchronized in terms of time,and the time accuracy is 0.01s, better to be 0.001s.