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Assignments within sub-expressions are hard to spot and therefore make the code less readable.
It is also a common mistake to write = when == was meant.
Ideally, expressions should not have side-effects.
Noncompliant Code Example

doSomething(i = 42);

Compliant Solution

i = 42;
doSomething(i);   

or
doSomething(i == 42);  // Perhaps in fact the assignment operator was expected

Exceptions

Assignments in while statement conditions, and assignments enclosed in relational expressions are allowed.
See


 MISRA C:2004, 13.1 - Assignment operators shall not be used in expressions that yield a Boolean value
 MISRA C++:2008, 6-2-1 - Assignment operators shall not be used in sub-expressions
 MISRA C:2012, 13.4 - The result of of an assignment operator should not be used
 MITRE, CWE-481 - Assigning instead of Comparing