List all devices:

$> sudo fdisk -l

That will give you an overview about all your drives like that:

Disk /dev/sda: 256.1 GB, 256060514304 bytes
255 heads, 63 sectors/track, 31130 cylinders, total 500118192 sectors
Units = sectors of 1 * 512 = 512 bytes
Sector size (logical/physical): 512 bytes / 512 bytes
I/O size (minimum/optimal): 512 bytes / 512 bytes
Disk identifier: 0x000d9f0d

   Device Boot      Start         End      Blocks   Id  System
/dev/sda1   *        2048      499711      248832   83  Linux
/dev/sda2          501758   500117503   249807873    5  Extended
/dev/sda5          501760   500117503   249807872   8e  Linux LVM

Disk /dev/mapper/ubuntu--vg-root: 247.3 GB, 247325523968 bytes
255 heads, 63 sectors/track, 30068 cylinders, total 483057664 sectors
Units = sectors of 1 * 512 = 512 bytes
Sector size (logical/physical): 512 bytes / 512 bytes
I/O size (minimum/optimal): 512 bytes / 512 bytes
Disk identifier: 0x00000000

Disk /dev/mapper/ubuntu--vg-root doesn't contain a valid partition table

Disk /dev/mapper/ubuntu--vg-swap_1: 8468 MB, 8468299776 bytes
255 heads, 63 sectors/track, 1029 cylinders, total 16539648 sectors
Units = sectors of 1 * 512 = 512 bytes
Sector size (logical/physical): 512 bytes / 512 bytes
I/O size (minimum/optimal): 512 bytes / 512 bytes
Disk identifier: 0x00000000

Disk /dev/mapper/ubuntu--vg-swap_1 doesn't contain a valid partition table

Disk /dev/mmcblk0: 15.9 GB, 15931539456 bytes
255 heads, 63 sectors/track, 1936 cylinders, total 31116288 sectors
Units = sectors of 1 * 512 = 512 bytes
Sector size (logical/physical): 512 bytes / 512 bytes
I/O size (minimum/optimal): 512 bytes / 512 bytes
Disk identifier: 0x00000000

        Device Boot      Start         End      Blocks   Id  System
/dev/mmcblk0p1            8192    31116287    15554048    c  W95 FAT32 (LBA)

Format drive:

$> sudo fdisk /dev/mmcblk0p1

This will ask you for a command (help will show you all commands):

Command (m for help): help
h: unknown command
Command action
   a   toggle a bootable flag
   b   edit bsd disklabel
   c   toggle the dos compatibility flag
   d   delete a partition
   l   list known partition types
   m   print this menu
   n   add a new partition
   o   create a new empty DOS partition table
   p   print the partition table
   q   quit without saving changes
   s   create a new empty Sun disklabel
   t   change a partition's system id
   u   change display/entry units
   v   verify the partition table
   w   write table to disk and exit
   x   extra functionality (experts only)

Format FAT32:

$> sudo mkfs.vfat /dev/mmcblk0p1