Large-scale renewable energy integration decreases the system inertia and restricts frequency regulation. To maintain the frequency stability, allocating adequate frequency-support sources poses a critical challenge to planners. In this context, we propose a frequency-constrained coordination planning model of thermal units, wind farms, and battery energy storage systems (BESSs) to provide satisfactory frequency supports. Firstly, a modified multi-machine system frequency response (MSFR) model that accounts for the dynamic responses from both synchronous generators and grid-connected inverters is constructed with preset power-headroom. Secondly, the rate-of-change-of-frequency (ROCOF) and frequency response power are deduced to construct frequency constraints. A data-driven piecewise linearization (DDPWL) method based on hyperplane fitting and data classification is applied to linearize the highly nonlinear frequency response power. Thirdly, frequency constraints are inserted into our planning model, while the unit commitment based on the coordinated operation of the thermal-hydro-wind-BESS hybrid system is implemented. At last, the proposed model is applied to the IEEE RTS-79 test system. The results demonstrate the effectiveness of our co-planning model to keep the frequency stability.