I strongly suggest you take it to your dealership. I do a bit of work with building A/Cs and icing over is usually a sign of a fault (or a sign that the system isn't powerful enough, but I think we can discount that).
Worse, if an A/C ices up that in itself can cause or exacerbate faults/coolant leaks. And if there isn't enough coolant in the system, the compressor will be working overtime and could burn out. You don't want that to happen out of warranty!
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