release: Zephyr 2.4.0-rc1

Set version to 2.4.0-rc1

Signed-off-by: Maureen Helm <maureen.helm@nxp.com>
diff --git a/VERSION b/VERSION
index 713225d..a8315c3 100644
--- a/VERSION
+++ b/VERSION
@@ -1,5 +1,5 @@
 VERSION_MAJOR = 2
-VERSION_MINOR = 3
-PATCHLEVEL = 99
+VERSION_MINOR = 4
+PATCHLEVEL = 0
 VERSION_TWEAK = 0
-EXTRAVERSION =
+EXTRAVERSION = rc1