Blender, rigging foot roll, 2 bones parented to each other

Cirmius

Hi!

https://gyazo.com/d467832af4d545cfb7c70635dbd3d7d4

How can I make the first bone rotate the opposite bone the same way like the second rotate the first? If I just parent them both with each other, it makes loop and Blender goes wild. It's for rigging foot – sometimes you roll foot from the fingers, sometimes from the heel.