[makefile] What is the difference between the GNU Makefile variable assignments =, ?=, := and +=?

Using = causes the variable to be assigned a value. If the variable already had a value, it is replaced. This value will be expanded when it is used. For example:

HELLO = world
HELLO_WORLD = $(HELLO) world!

# This echoes "world world!"
echo $(HELLO_WORLD)

HELLO = hello

# This echoes "hello world!"
echo $(HELLO_WORLD)

Using := is similar to using =. However, instead of the value being expanded when it is used, it is expanded during the assignment. For example:

HELLO = world
HELLO_WORLD := $(HELLO) world!

# This echoes "world world!"
echo $(HELLO_WORLD)

HELLO = hello

# Still echoes "world world!"
echo $(HELLO_WORLD)

HELLO_WORLD := $(HELLO) world!

# This echoes "hello world!"
echo $(HELLO_WORLD)

Using ?= assigns the variable a value iff the variable was not previously assigned. If the variable was previously assigned a blank value (VAR=), it is still considered set I think. Otherwise, functions exactly like =.

Using += is like using =, but instead of replacing the value, the value is appended to the current one, with a space in between. If the variable was previously set with :=, it is expanded I think. The resulting value is expanded when it is used I think. For example:

HELLO_WORLD = hello
HELLO_WORLD += world!

# This echoes "hello world!"
echo $(HELLO_WORLD)

If something like HELLO_WORLD = $(HELLO_WORLD) world! were used, recursion would result, which would most likely end the execution of your Makefile. If A := $(A) $(B) were used, the result would not be the exact same as using += because B is expanded with := whereas += would not cause B to be expanded.