Produce a single sequential FASTA sequence out of BAM
If you just want the human chromosomes in a FASTA format, why not downloading directly the individual chromosome files (chr*.fa.gz)? 

If you don't rely on the "official" releases (for whatever reason), then what you need is first to assemble your reads into genomes, possibly (but not surely) going down to a chromosome-level resolution. Different approaches for assembly are possible/available, mainly depending on (1) what do you biologically need to answer and (2) the type of sequencing data you have - we'll need more details to be able to help you in this direction. 

The samtools fasta utility will "just" convert your reads (likely given from a sequencing facility) from an alignment (BAM) format into a reads (FASTA) format, there is no concept of chromosomes here. You won't get assembled chromosomes this way, just extract the sequence in FASTA format from your alignment file.