How can I get ttyUSB log with timestamp in llinux

The following logs is from TeraTerm, a terminal emulator for windows. I want to get log from ttyUSB0 in my Linux in the following way.

[Thu Apr 14 15:08:14.410 2016] Load U-Boot from eMMC/NAND Flash
[Thu Apr 14 15:08:14.410 2016] eMMC/NAND copy from 0x030A0000 to 0x49FB0000 (len:262144).
[Thu Apr 14 15:08:14.456 2016] Done.
[Thu Apr 14 15:08:14.456 2016] 
[Thu Apr 14 15:08:14.456 2016] 
[Thu Apr 14 15:08:14.456 2016] U-Boot 1.2.0 (Sep  2 2013 - 13:31:42)Puma6 - PSPU-Boot 2.0.0.24
[Thu Apr 14 15:08:14.503 2016] 
[Thu Apr 14 15:08:14.503 2016] DRAM:  128 MB
[Thu Apr 14 15:08:14.503 2016] *** Waing - Unsupported Flash detected, flash is unusable
[Thu Apr 14 15:08:14.503 2016] 

I found this document, but it gives timestamp when a terminal is idle.

-- 0:ttyUSB2 -- time-stamp -- 2016-04-15 17:23:13 --
-- 0:ttyUSB2 -- time-stamp -- 2016-04-15 17:23:53 --

This question is moved from stackoverflow/q/36737144